Recent advances in hardware, software and communication technologies are enabling the design and implementation of a wide range of different types of networks that are being deployed in various environments. One such network that has been widely employed in automobile technology, allowing vehicles within this network to communicate effectively with each another, is the Vehicular Ad-Hoc Network (VANET). VANETs are classified as a mobile ad hoc network, with the potential for improving road safety and providing travelers with better service. Therefore, it is important that VANETs are applied with reliable communication. However, the problem of reaching consensus in the distributed system is one of the most important issues in designing a reliable communication network. Reaching consensus on a same value in a distributed system is required; even if certain components in the distributed system fail, the protocol is necessary so that system can still operate correctly. In this study, the identitybased cryptosystem (IDCrypto) is used to satisfy such reliability-related objectives when a message is transmitted. The consensus problem is revisited with the assumption of transmission medium failure via malicious faults in the VANET. The proposed protocol, Reliable Communication Protocol (RCP) of VANET, allows all fault-free nodes to reach reliable consensus with minimal rounds of message exchanges, and tolerates the maximal number of allowable components in the VANET.