Trusted data transmission is the foundation of the Internet of Things (IoT) security, so in the process of data transmission, the trust of IoT nodes needs to be confirmed in real time, and the real-time tracking of node trust is also expected. Yet, modern IoT devices provide limited security capabilities, forming a new attack focus. Remote attestation is a kind of technology to detect network threats by remotely checking the internal situation of terminal devices by a trusted entity. Multidevice attestation is rarely studied although the ongoing single device attestation techniques lack scalability in the application of IoT. In this article, we present a lightweight attestation protocol based on an IoT system under an ideal physical unclonable functions environment. Our protocol can resilient against any strong adversary who physically accesses IoT devices. Simulation results show that our protocol is scalable and can be applied to dynamic networks.