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Abstract Smart grid (SG) facilitates our lives by providing more reliable electricity and enabling better integration of renewable energy sources. Currently, numerous authentication and key agreement (AKA) protocols have been proposed to secure SG communication. However, these solutions often result in considerable cost, making them inappropriate for resource-constrained SG environment. In this paper, we propose a secure and resource-efficient AKA protocol by employing lightweight cryptography primitives including authenticated encryption with associated data (AEAD) primitive ASCON, hash function and XOR operation. The ASCON primitive simultaneously provides data confidentiality, integrity and authenticity with low computation cost, making it suitable for employing in resource-constrained SG environment. The secret intermediate values in the protocol are designed as hash values that incorporate both long-term and short-term secrets, thereby providing enhanced security while further reducing cost. Moreover, a dynamic indexing method is deployed in the protocol to resist de-synchronization attack. The designed protocol performs secure mutual authentication and session key establishment between entities without relying on a central trusted authority. The proposed protocol is proven secure through rigorous security proof under the real-or-random model and formally verified by AVISPA tool. Theoretical performance analysis and simulation results indicate that the proposed protocol outperforms other related protocols due to its lightweight nature and adherence to all fundamental security attributes, making it suitable for deployment in smart grid environment.