In the ubiquitous networks, mobile nodes can obtain roaming service that enables them to get access to the services extended by their home networks in the field of foreign network. To provide secure and anonymous communication for legal mobile users in roaming services, there should be a mutual authentication between mobile user and foreign agent with the help of home agent. There are many roaming authentication schemes which have been proposed; however, with the progress of quantum computation, quantum attack poses security threats to many traditional public key cryptography-based authentication schemes; thus, antiquantum attack roaming authentication schemes need to be investigated. On account of the limitation of computational resources for mobile nodes, a lightweight anonymous and antiquantum authentication schemes need to be developed to enable mobile nodes to roam across multiple service domains securely and seamlessly. In consideration of the advantages of lattice in antiquantum, an NTRU-based authentication scheme with provable security and conditional privacy preservation is proposed to remedy these security weaknesses. Compared with the existing scheme, the proposed scheme not only improves efficiency but also can resist the quantum attack.