Due to the rapidly ageing population and low birth rates, most countries have faced with the problems of an ageing population. As a result, research into aging and the means to support an aging population has therefore become a priority for many governments around the world. Ambient Assisted Living(AAL) approach is the way to guarantee better life conditions for the aged and for monitoring their health conditions by the development of innovative technologies and services. AAL technologies can provide more safety for the elderly, offering emergency response mechanisms and fall detection solutions. Since the information transmitted in AAL systems is very personal, however, the security and privacy of such data are becoming important issues that must be dealt with. In this paper, we propose a Chameleon hash-based secure authentication protocol for AAL systems. The proposed authentication protocol not only supports several important security requirements needed by the AAL systems, but can also withstand various types of attacks. In addition, the security analysis results show that the proposed authentication protocol is more efficient and secure than the existing authentication protocols.