Internet of Things (IoT) has been ubiquitous in both industrial and living areas, but also known for its weak security. Being as the first defense line against various cyberattacks, authentication is even more critical to IoT applications. Moreover, there has been a growing demand for cross-domain collaboration, leading to an increasing need for cross-domain authentication. Recently, certificate-based authentication schemes have been extensively studied. However, many of these schemes are not efficient in computation, storage, and communication, which are highly required in IoT. In this paper, we propose a lightweight authentication scheme based on consortium blockchain and design a cryptocurrency-like digital token to build trust. Furthermore, trust lifecycle management is performed by manipulating the amount of tokens. The comprehensive analysis and evaluation demonstrate that the proposed scheme is resistant to various common attacks and more efficient than competitor schemes in terms of storage, communication, and authentication cost.