Proxy signatures are signature schemes in which an original signer delegates her signing capability to a proxy entity, who signs a message on behalf of the original signer. In this paper we propose the ID-based proxy signature schemes using a bilinear map. In the previous R-based proxy signature scheme, the proxy signer can misuse the right of the signing capacity and the public key directory is required. However, by inserting the warrant information such as the identity of the proxy signer and the limit of the signing capacity to the proxy signature, our scheme can prevent the misuse of the proxy key pair by the proxy signer and does not require a public key certificate. Furthermore, our scheme dose not need a secure channel to deliver the warrant. Consequently, the proposed scheme is more efficient and useful than the previous proxy signature schemes.