With emergence of smart city concept, intelligent transportation becomes one of its key enablers, with navigation as an indispensable component. Vehicular ad hoc network (VANET) based systems emerge to provide navigation services to vehicle users, which is characterized by employing Roadside Units (RSUs) to collect road condition information from nearby vehicles. The querying vehicle exploits the information retrieved through the RSUs to determine an optimal route. We focus on addressing two key issues in such system. First, while querying, the destination of the vehicle user should not be leaked to the queried RSU and trusted authority (TA), which is likely to be misused. Second, the navigation process should be independent of participation of the centralized TA, which can be a single point of failure. To address these issues, this article proposes a security and privacy preserved intelligent vehicle navigation system, adopting a distributed approach, to retrieve navigation without revealing the destination. The security of the system has been thoroughly evaluated using an adversary model, BAN Logic and AVISPA tool. In addition, the performance of the proposed system has been evaluated, and compared with the existing systems. The comparison illustrates that the proposed system is computationally efficient than the existing systems.