In recent years, wireless sensor networks (WSNs) have been extensively used in many fields, which provide great convenience for people’s daily work and life. With the popularity of WSNs, people’s demands for related authentication protocols are developing in a comprehensive and perfect direction, and relevant designs are focusing more on two aspects: security and performance. However, current research cannot avoid the problem that security and efficiency are not compatible. Some studies use time-consuming cryptographic structures for security, while most lightweight schemes are designed without considering certain security properties, such as perfect forward secrecy, the resistance to known session-specific temporary information attack, etc. In our view, this conflict can be resolved by using lightweight cryptography primitives with special attention to protocol vulnerabilities and ever-evolving security requirements of people. By abandoning all unnecessary cryptographic structures, we propose a comprehensive lightweight three-factor authentication protocol with various security requirements, including adaptive privacy preservation, which is suitable for the user-friendly scenario in the WSN. Through security analysis, real-or-random (ROR) model proof, Automated Validation of Internet Security Protocols and Applications experimental verification, and security aspect comparison, it is proved that our protocol is superior in the security aspect. The performance experiment under MIRACL library shows that this study has advantages in performance compared with other recent research.