The internet of things (IoT) is a technological revolution that has recently become more important to the real world because of the growth of smart devices, embedded and ubiquitous communication technologies and combined with cyber world to provide many smart services. These services are particularly creating new challenges in security and privacy concerns. To address this issue, trust management system and access control system must be focused in IoT. This paper presents a trust aware access control system using fuzzy logic (TAACS-FL) for IoT. Access control is an important mechanism to ensure only trusted users/devices access the data from the sensor device or command the actuators to perform some task in the IoT context. First, we monitor the devices and gather the trust parameters like successful forward ratio (SFR), data integrity (DI) and energy consumption rate (ECR). Second, by using fuzzy engine trust parameters are combined and overall trust value is calculated. Third, based on the trust value access control method is defined. NS-2 based simulation result shows TAACS-FL guarantees scalability and energy efficient.