In this paper, we propose a secure object tracking protocol to ensure the visibility and traceability of an object along the travel path to support the Internet of Things (IoT). The proposed protocol is based on radio frequency identification system for global unique identification of IoT objects. For ensuring secure object tracking, lightweight cryptographic primitives and physically unclonable function are used by the proposed protocol in tags. We evaluated the proposed protocol both quantitatively and qualitatively. In our experiment, we modeled the protocol using security protocol description language (SPDL) and simulated SPDL model using automated claim verification tool Scyther. The results show that the proposed protocol is more secure and requires less computation compared to existing similar protocols.