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In this paper, we present a novel 2-way handshake authentication protocol to locally authorize intra-domain roaming users for efficient authentication in mobile IP networks, which is based on authentication, authorization and accounting (AAA) architecture. We develop a detailed procedure to establish local security associations (SAs) for re-authentication using commitment schemes. By considering the traffic and mobility patterns of a mobile user (MU), as well as the message transmission time between the MU and its home AAA server, we provide a performance study for comparing the authentication latency of existing authentication protocol with our approach. The result shows that our protocol outperforms the existing authentication protocol.