In this paper, a hierarchical authentication protocol is proposed to minimize authentication delay in proxy mobile IPv6 networks. The authentication function of the AAA server is distributed to the LMAs and the MAGs. If the LMAs or the MAGs have authentication information of the MNs, they authenticate the MN on behalf of the AAA servers. Therefore, the authentication delay is reduced. The AAA server is vulnerable to denial-of-service attack. If the AAA server is down, MNs cannot access the proxy mobile IPv6 network until they are authenticated. The proposed scheme reduces the load on the AAA server by distributing the authentication function to the LMAs and the MAGs.