Most of the current Mutual Authentication and Key Agreement (MAKA) protocols fail to provide effective revocation mechanism and suffer from some new attacks

such as Ephemeral Secret Leakage (ESL) attack and Registration Center Disclosure Registration Information (RCDRI) attack. On the other hand

a large number of MAKA protocols are based on a Registration Center (RC)

which is undoubtedly a challenge to RC efficiency and stability. Based on Self-Certified Public Key (SCPK)

this paper proposes a MAKA protocol for multi-server environments with multi-registration centers. It is able to resist the new attacks and has efficient dynamic revocation mechanism. Based on the Diffie-Hellman assumption

the security proof of the proposed protocol is given in the random oracle model. Because the protocol does not involve bilinear pairings of operations

it has a great advantage in the implementation efficiency over the relevant schemes.