As wireless sensor networks (WSN) are deployed in fire monitoring, object tracking applications, security emerges as a central requirement. A case that Sybil node illegitimately reports messages to the master node with multiple non-existent identities (ID) will cause harmful effects on decision-making or resource allocation in these applications. In this paper, we present an efficient and lightweight solution for Sybil attack detection based on the time difference of arrival (TDOA) between the source node and beacon nodes. This solution can detect the existence of Sybil attacks, and locate the Sybil nodes. We demonstrate efficiency of the solution through experiments. The experiments show that this solution can detect all Sybil attack cases without missing.