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As various applications of SIP-based VoIP networks have been proposed, security has become one of the big research challenges and is receiving increasing attention. In this paper, we present a certificate-based two party authentication key agreement protocol for SIP-based VoIP networks and prove its security in the random oracle model. Additionally, our scheme could be used for multiple CAs environment where all the CAs use different system parameters by introducing a slight modification. Compared with other AK protocols regarding the robustness and computation overheads, our scheme is more efficient and more suitable for SIP-based VoIP networks.