The Internet of Things (IoT) is a network of physical objects that is equipped with computers, electronics, applications, sensors, and other devices. As the number of IoT devices and apps increases, a range of security techniques should be applied to strengthen and enhance their immunity to cyber attacks as attackers have more capabilities and tools now focused on targeting the IoT networks. In this context, we study the nature of the Internet of Things infrastructure, especially some different Iot architecture layers, their security challenges and brief proposed solutions. For different IoT layers, authentication is a main security aspect affecting each layer separately. We provide a systematic literature review (SLR) methodology to locate existing multifactor authentication protocols in the literature and evaluate their effectiveness. Then we provide an analysis of available multi-factor authentication protocols that are intended for IoT environments. Then some recommendations were provided based on the analysis. In conclusion, since the large range of IoT devices are resource- and powerlimited, the nature of IoT settings requires lightweight protocols. Any of those proposed protocols can call for ongoing follow-up in the future to figure out upcoming weaknesses.