Everyone desires to avail online services provided by different service providers securely, efficiently, and effectively. In this regard, security is still a significant concern for them. However, no one guarantees secure communication by browsing different applications remotely. To ensure confidentiality, authorization, availability, nonrepudiation, and removing eavesdropping, without a robust authentication scheme, nothing will go right. Therefore, we attempted to design a robust and privacy-preserving authentication scheme for end-users to securely access public cloud servers’ services remotely without losing performance. Our proposed scheme security has been evaluated formally using the random oracle model (ROM) and ProVerif2.03 and informally using proposition and discussion. At the same time, the performance metric has been analyzed by considering the scheme’s computation and communication costs. Upon comparing the proposed scenario with state-of-the-artwork, it has been demonstrated that the scheme is much better in terms of security and performance, as these are contradicting metrics, and the change in one conversely affects the other.