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In this paper, a novel secure data transmission scheme using chaotic compressed sensing, which has inherent encryption property without additional cost, is proposed based on a T-way Bernoulli shift chaotic system. In the proposed scheme, the Bernoulli chaotic sensing matrix (BCsM) is generated by the Bernoulli shift chaotic sequence. We prove that the BCsM meets the restricted isometry property with overwhelming probability, which guarantees good sensing performance. Compared with the state-of-the-art sensing matrices, such as the Gaussian sensing matrix, the BCsM has low complexity and is easily implemented in hardware. Meanwhile, we investigate the recovery performance, robustness, and security of the proposed scheme and show that the proposed scheme can ensure efficient secure data transmission against additive noise and malicious attacks. The proposed scheme is perfectly effective for large-scale, long-term data transmission with high energy efficiency and strong security.