In order to solve the problem that the existing Internet of Things (IoT) trust evaluation method ignores the impact of the timeliness of trust and non-intrusion factors on direct trust evaluation, and is lack of reliability evaluation of trust recommendation nodes, which lead to low trust evaluation accuracy and low capability to deal with malicious nodes, an IoT node Dynamic Trust Evaluation Method (IDTEM) was proposed. Firstly, the quality of service persistence factor for nodes was introduced to evaluate node behavior and the dynamic trust attenuation factor of nodes was used to express the timeliness of trust, improving the Bayesian-based direct trust evaluation method. Secondly, the reliability of recommended node was evaluated from three aspects:recommended node value, evaluation difference and trust value of the node itself, and was used to optimize the recommendation trust weight calculation method. At the same time, recommendation trust feedback mechanism was designed to suppress collaborative malicious recommendation nodes by the feedback error between the actual trust of the service provided node after providing service and the recommendation trust. Finally, the adaptive weights of direct and recommendation trust of the node were calculated based on the entropy to obtain the comprehensive trust value of the node. Experimental results show that compared with the Reputation-based Framework for high integrity Sensor Network model (RFSN) based on Bayesian theory and the Behavior-based IoT Trust Evaluation Method (BITEM), IDTEM has certain advantages in dealing with malicious services and malicious recommendation behaviors, and has lower transmission energy consumption.