Internet of Things (IoT) is a paradigm shifting technology that enables many innovative applications in the near future. Proactive measures are required to protect such architecture from cyber attacks. One of the most important security issues in this architecture is the authentication of edge nodes, which can be resolved through the deployment of digital signatures. However, existing standardized digital signatures are vulnerable to attacks from quantum computers, which can be unsafe in the near future. In this article, we propose a new signature scheme based on multivariate polynomials with efficient key and signature sizes, which is resistant to quantum computer attacks. The proposed scheme is also very friendly to parallel implementation, enabling efficient deployment of edge nodes authentication at high throughput. When implemented on a GPU device, the proposed scheme can generate 113 signatures/s and verify 120 signatures/s, which is 12.56× and 10.00× faster than a serial implementation in CPU.