Intelligent vehicle networking systems are core components of intelligent modern urban transportation systems， and are crucial for traffic information sharing and security management. Privacy protection authentication is the main approach to maintain the security of intelligent vehicle networking systems， among which， protecting identity privacy and tracking malicious nodes are particularly important. Most existing protocols protect users’ privacy through anonymous identity， but they do not trace anonymous identity. There is a situation where malicious users evade traffic accident accountability by forging or tampering with anonymous identity information. To address these security threats， an efficient anonymous and traceable authentication key agreement protocol based on elliptic curve in intelligent vehicle networking systems was proposed. In particular， when the roadside base station unit received an authentication request， it would perform security verification on the intelligent vehicle’s signature and anonymous identity， and finally achieve bidirectional authentication of key agreement. The vehicle would maintain anonymous authentication authority until be revoked by intelligent vehicle networking systems. The protocol was designed on the basis of an elliptic curve identity cryptosystem， thereby avoiding expensive calculation of bilinear pairwise mapping operations. Experimental results show that compared with the Public Key Infrastructure （PKI） authentication protocol， the protocol based on pseudo-identity and Hash Message Authentication Code （HMAC）， the protocol based on Physical Unclonable Function （PUF）， the distributed intelligent vehicle networking system protocol， and the protocol based on bilinear pairwise mapping， the proposed protocol has the lowest communication cost， while its computational cost is roughly equivalent to that of the distributed intelligent vehicle networking system protocol， which has the lowest computational cost among the compared protocols. Security analysis and performance evaluation show that the proposed protocol protects users’ privacy in intelligent vehicle networking systems， has efficient computation performance in anonymous authentication process， and thus can be deployed in intelligent transportation systems effectively.