Wireless body area networks (WBANs) are widely used in telemedicine, which can be utilized for real-time patients monitoring and home health-care. The sensor nodes in WBANs collect the client’s physiological data and transmit it to the medical center. However, the clients’ personal information is sensitive and there are many security threats in the extra-body communication. Therefore, the security and privacy of client’s physiological data need to be ensured. Many authentication protocols for WBANs have been proposed in recent years. However, the existing protocols fail to consider the key update phase. In this paper, we propose an efficient authenticated key agreement scheme for WBANs and add the key update phase to enhance the security of the proposed scheme. In addition, session keys are generated during the registration phase and kept secretly, thus reducing computation cost in the authentication phase. The performance analysis demonstrates that our scheme is more efficient than the currently popular related schemes.