Abstract: This paper presents a mutual authenticated key agreement scheme for heterogeneous sensor networks(HSN) using identity-based cryptography.In this scheme,different types of sensors execute different protocols to finish identity authentication and establish shared keys according to their capacities,making the resource of power nodes be used effectively and making the energy of less capable sensors be saved in great deal.This scheme provides perfect forward secrecy and master key forward secrecy and can better resist nodes impersonation,nodes replication and sybil attack.The analysis and simulation results show that this scheme has more security properties and lower cost.