IoT devices collect and process information from remote locations and have significantly increased the productivity of ubiquitous networks. Smart sensing devices spanning the IoT ecosystem do not have powerful processors and the amount of memory is usually measured in kilobytes, so the traditional mechanisms can not be installed on the sensing layer resource constraint devices. The ultrahigh-frequency passive RFID tags are the most adopted resource constraint IoT devices that use ultralightweight mutual authentication protocols for the authenticated encryption of the tag/reader communication. This paper introduces the Ultralightweight Resilient Mutual Authentication Protocol (URMAP), which uses quantum computing-inspired ultralightweight primitives, performs its security analysis, and validates its ultralightweight nature by proposing the hardware design.