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Authenticated key agreement protocol is the fundamental building block for secure communication in the open network to ensure authentication and confidentiality of e-commerce and e-government applications. Certificateless public key cryptography combines the advantage of the identity-based public key cryptography (ID-PKC) and the traditional PKI. In this paper, we present a secure and efficient two-party authenticated key agreement protocol based on an efficient and secure certificateless public key encryption scheme. It achieves almost all the known security attributes for authenticated key agreement protocol, such as perfect forward secrecy, PKG forward secrecy, key-compromise impersonation resilience, unknown key-share resilience, message independence and no key control. Compared to other comparable schemes, it is more secure and has nice efficiency.