Due to vulnerable authentication scheme of SIP, intruders can easily impersonate legitimate user. HTTP Digest authentication scheme or private key issued by trust third parties has been used to prevent impersonation attack. However, these methods have suffered security vulnerability or service delay due to computation overhead. In this paper, we propose new authentication method to generate automatically one-time password using the pre-shared password and time information of messages exchanged between SIP UA(User Agent) and SIP Registrar. This method protects against impersonation attack without significant modification of exiting SIP authentication procedure to build securer SIP environment.