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Smart devices have become an essential part of the architectures such as the Internet of Things (IoT), Cyber-Physical Systems (CPSs), and Internet of Everything (IoE). In contrast, these architectures constitute a system to realize the concept of smart cities and, ultimately, a smart planet. The adoption of these smart devices expands to different cyber-physical systems in smart city architecture, i.e., smart houses, smart healthcare, smart transportation, smart grid, smart agriculture, etc. The edge of the network connects these smart devices (sensors, aggregators, and actuators) that can operate in the physical environment and collects the data, which is further used to make an informed decision through actuation. Here, the security of these devices is immensely important, specifically from an authentication standpoint, as in the case of unauthenticated/malicious assets, the whole infrastructure would be at stake. We provide an updated review of authentication mechanisms by categorizing centralized and distributed architectures. We discuss the security issues regarding the authentication of these IoT-enabled smart devices. We evaluate and analyze the study of the proposed literature schemes that pose authentication challenges in terms of computational costs, communication overheads, and models applied to attain robustness. Hence, lightweight solutions in managing, maintaining, processing, and storing authentication data of IoT-enabled assets are an urgent need. From an integration perspective, cloud computing has provided strong support. In contrast, decentralized ledger technology, i.e., blockchain, light-weight cryptosystems, and Artificial …