As quick and secure mobility service is becoming a critical issue in the ubiquitous environment. Internet Engineering Task Force (IETF) has done a lot of meaningful work in order to cope with the critical issues, which is a key technology of guaranteeing the legally and safely using of network resources, they has proposed Hierarchical Mobile IPv6 (HMIPv6) to complement for such problems as handover latency and signaling overhead in existing MIPv6. Most of the current research about HMIPv6 focuses on how to optimize the interactive processes between the HMIPv6 and AAA (Authentication, Authorization, Accounting) protocol. This paper describes a cost-effective hierarchical authentication scheme, which makes its focus on minimizing the authentication latency in AAA processing. In this scheme, a hierarchical AAA architecture is proposed, in which the AAA servers are deployed on the Mobility Anchor Point (MAP), the Root AAA server manages several Leaf AAA servers and the Brokers on behalf of the AAA server in home domain. The simulation results shows that the proposed scheme reduces the handoff and authentication latency evidently compared to the previous traditional authentication combination modeling.