Existing secure and privacy-preserving vehicular communication protocols in vehicular ad hoc networks face the challenges of being fast and not depending on ideal tamper-proof devices (TPDs) embedded in vehicles. To address these challenges, we propose a vehicular authentication protocol referred to as distributedaggregate privacy-preserving authentication. The proposed protocol is based on our new multiple trusted authority one-time identity-based aggregate signature technique. With this technique a vehicle can verify many messages simultaneously and their signatures can be compressed into a single one that greatly reduces the storage space needed by a vehicle or a data collector (e.g., the traffic management authority). Instead of ideal TPDs, our protocol only requires realistic TPDs and hence is more practical.