Deniable authentication is an essential cryptography paradigm, which enables a receiver to identify the source of a given message, but the receiver cannot prove the source of the message to any third party over an insecure network. In this paper, we propose a novel noninteractive deniable authentication Chaotic Maps-based scheme, named NIDA, aiming to require one ciphertext with non-interactive process for achieve mutual authentication, deniability and the message transmission secretly. Our scheme is based on chaotic maps, which is a high efficient cryptosystem and is firstly used to construct non-interactive deniable authentication scheme. Inadditon, unlike bilinear pairs and other’s cryptosystem that need many redundant algorithms to get anonymity, while our scheme can acquire privacy protection easily. Next, a novel idea of our NIDA scheme is to adopt chaotic maps for mutual authentication and privacy protection, not to encrypt/decrypt messages transferred between the sender and the receiver, which can make our proposed scheme much more efficient. Finally, we give the formal security proof about our scheme in the standard model and efficiency comparison with recently related works.