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As the fundamental building block for secure communication in the open network, authenticated key agreement protocols are usually constructed in the public key setting. 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 the efficient certificateless public key encryption scheme due to Cheng and Comley. Security analysis shows that it achieves perfect forward secrecy, PKG forward secrecy and almost all the other known security attributes for authenticated key agreement protocol, such as known-key secrecy, key-compromise impersonation resilience, unknown key-share resilience, known session-specific temporary information security, message independence and no key control. Compared to other comparable schemes, it is more secure and has nice efficiency.