With the continuous development of intelligent transportation systems (ITS), the Vehicular Ad-hoc Networks, as a core component of smart transportation, has become a crucial technology for improving traffic safety and transportation efficiency. However, the open communication environment and highly dynamic nature of VANETs make them vulnerable to many security threats. The existing schemes are difficult to get a balance between anonymity and traceability. Therefore, this paper proposes a blockchain-based anonymous authentication scheme with pseudonym management protocol. Using the decentralized nature of blockchain, the scheme incorporates a pseudonym management mechanism based on smart contracts, ensuring that a user’s real identity can only be revealed upon consensus from a certain number of RSU, thereby enhancing identity privacy protection. Additionally, using the immutability of smart contracts, a vehicle authentication protocol is designed to improve system decentralization, data security, and identity traceability. Through security analysis, the proposed scheme demonstrates superior security performance against common threats. The analysis of performance shows that the performance of our proposed scheme is improved.