In order to resolve the information security problem in vehicular ad hoc networks (VANET) and improve traffic efficiency, a privacy preserving and scalable scheme was proposed for VANET messages authentication, in which identity (ID)-based signcryption was used to help vehicles to securely receive a secret member key from an RSU, and then the vehicles could anonymously send messages on behalf of the group. Furthermore, batch technique was employed to accelerate the verification. Extensive simulation was conducted to confirm the efficiency of the scheme in various application scenarios. The results showed that the scheme is better than other existed programs.