The continuous progression in cloud computing, edge computing, and associated technologies has notably hastened the progress of vehicle networking technology. This advancement is increasingly assuming a crucial role in enhancing driving safety, optimizing traffic management, and revolutionizing traffic control methodologies. The principal aim of Internet of Vehicles (IoV) technology is to establish a secure, convenient, and efficient novel driving paradigm, enabling intelligent transportation through wireless communication connecting roadside units and vehicles. Nevertheless, this wireless communication method is susceptible to potential attacks, including remote control, information monitoring, and identity simulation. Given this situation, effective authentication is required to address this security concern. Thus, this study proposes an identity authentication and key negotiation protocol grounded in a trusted cloud-edge-terminal architecture. This protocol facilitates mutual authentication, generates secure session keys for communication, guarantees the security of vehicle communication, and supports functionalities including privacy protection and password alteration for vehicle users. Time tree technology is employed for managing the edge nodes, facilitating the sharing of vehicle certification information among these nodes, and enhancing certification efficiency. Formal security analysis and informal security analysis are conducted to demonstrate the security of the proposed protocol, evaluating its security and practicality. Theoretical comparisons and experimental results demonstrate the outstanding computational and communication performance of the proposed protocol.