Vehicular Ad-hoc Networks (VANETs) offer immense potential for revolutionizing modern transportation systems through real-time communication and interaction between vehicles and roadside infrastructure. These networks can significantly enhance traffic management, improve safety, and support various vehicular services. However, ensuring secure communication in VANETs remains a critical challenge due to the highly sensitive nature of the data exchanged, such as location and personal information. Current authentication schemes, including the ANEL scheme, exhibit vulnerabilities like data interception and tracking risks. In this paper, we propose a novel, efficient, and lightweight authentication scheme that leverages elliptic curve cryptography (ECC) and message mapping techniques to address these security issues. The proposed solution strengthens encryption, enhances privacy protection, and mitigates risks such as unauthorized access and man-in-the-middle attacks. Furthermore, the scheme offers scalability and distinguishes between regular and priority users, making it adaptable to various VANET applications. This approach significantly improves the overall security and privacy framework of VANET systems while ensuring the efficient use of computational resources in vehicular environments.