RFID is one of the promising automatic identification systems. However, RFID is vulnerable to various threats such as tracking ID, cloning attack, spoofing attack, etc. Some mutual authentication protocols utilize cryptographic functions such as hash, but retrieving efficiency is very low. A naïve challenge-response protocols based on PUF which is innovative circuit primitives require maintaining huge challenge-response pairs. Some lightweight protocols based on PUF have been reported to be broken. This paper proposes a HMAC-based mutual authentication protocol using PUF for RFID to address the problems of previous protocols as above mentioned. The proposed protocol provides robust security properties as well as efficient enough for the active tags in terms of the computation.