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The security and privacy issues in vehicular ad hoc networks (VANETs) are often addressed with schemes based on either public key infrastructure, group signature, or identity. However, none of these schemes appropriately address the efficient verification of multiple VANET messages in high-density traffic areas. Attackers could obtain sensitive information kept in a tamper-proof device (TPD) by using a side-channel attack. In this paper, we propose an identity-based conditional privacy-preserving authentication scheme that supports a batch verification process for the simultaneous verification of multiple messages by each node. Furthermore, to thwart side-channel attacks, vehicle information in the TPD is periodically and frequently updated. Finally, since the proposed scheme does not utilize the bilinear pairing operation or the Map-To-Point hash function, its performance outperforms other schemes, making it viable for large-scale VANETs deployment.