The rapid proliferation of Internet of Things (IoT) devices across diverse sectors has introduced unprecedented security challenges, primarily concerning the veri fication of device identities and the management of access rights. This chapter provides a comprehensive examination of authentication and authorization mechanisms designed specifically for IoT environments. We explore the fundamental principles, architectural models, and prevailing protocols such as OAuth 2.0, JSON Web Tokens (JWT), and Public Key Infrastructure (PKI). A critical analysis of existing literature reveals the limitations of traditional security frameworks when applied to resource-constrained IoT devices. To address these challenges, we propose a hybrid authentication and authorization framework that integrates hardware-based security with lightweight token management, optimizing both security and scalability. Extensive simulation results demonstrate the efficacy of the proposed methodology in terms of success rates, latency reduction, resource efficiency, and threat detection capabilities across varying network sizes. The findings underscore the necessity of adopting adaptive, multi-layered security approaches to safeguard next generation IoT ecosystems against sophisticated cyber threats.