Wireless sensor networks (WSN) have been widely used in the field of industrial Internet of Things (IoT), one of the main security challenges is how to protect the transmission of sensitive data between sensors in the wireless channel. Key management is one of the most challenging work. Most IoT sensors’ resources are limited, so the key management scheme should be designed to be as lightweight as possible. Generally, schemes can be divided into two categories: pairwise key management and group key management, but each of them has its limitations. In this paper, we propose a dynamic membership authentication and key management scheme for WSN. In our scheme, we add the access object authentication and key update mechanism, ensure the authenticity of the connected object and key freshness. Compared with other schemes, our solution ensures forward and backward secrecy and resists capture attacks. We finally demonstrate that our scheme is of confidentiality, integrity, and scalability for resource-constrained WSN.