This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2021.3072030, IEEE Access VOLUME XX, 2017 1 Date of publication xxxx 00, 0000, date of current version xxxx 00, 0000. Digital Object Identifier 10.1109/ACCESS.2017.Doi Number Internet of Drones Security and Privacy Issues: Taxonomy and Open Challenges Muktar Yahuza 1,2 , (Graduate Student Member, IEEE), Mohd Yamani Idna Idris 1,3 , (Member, IEEE), Ismail Bin Ahmedy 1 , (Member, IEEE), Ainuddin Wahid Bin Abdul Wahab 1 , Tarak Nandy 1 , (Member, IEEE), Noorzaily Mohamed Noor, Abubakar Bala 4,5 , (Student Member, IEEE) 1 Faculty of Computer Science and Information Technology, Department of Computer System and Technology, University of Malaya, Kuala Lumpur, 50603, Malaysia 2 Faculty of Science, Department of Computer Science, Yobe State University Damaturu, 620242, Nigeria 3 Center for Research in Mobile Cloud Computing, University of Malaya, Kuala Lumpur, 50603, Malaysia 4 Faculty of Engineering, Department of Electrical and Electronics Engineering, University of Technology PETRONAS, 32610, Seri Iskandar, Perak Darul Ridwan, Malaysia 5 Faculty of Engineering, Department of Electrical Engineering, Bayero University Kano, PMB 3011, Kano, Nigeria Corresponding author: Mohd Yamani Idna Idris (e-mail: yamani@um.edu.my). This work was supported in part by the University of Malaya Impact Oriented Interdisciplinary Research Grant Under Grant IIRG003A, B, C-19IISS, and in part by the Ministry of Higher Education Malaysia Fundamental Research Grant Scheme (FRGS) Under Grant FP055-2019A. ABSTRACT Internet of Drones (IoD) is a decentralized network and management framework that links drones’ access to the controlled airspace and provides inter -location navigation services. The interconnection of drones in the IoD network is through the Internet of Things (IoT). Hence the IoD network is vulnerable to all the security and privacy threats that affect IoT networks. It is highly required to safeguard a good atmosphere free from security and privacy threats to get the desired performance from IoD applications. Security and privacy issues have significantly restricted the overall influence of the IoD paradigm. There are existing survey studies that helped lay a vital foundation for understanding the IoD security and privacy issues. However, not all have thoroughly investigated the level of security and privacy threats associated with the various drone categories. Besides, most existing review studies do not examine secured IoD architecture. This paper aims to assess the recent trends in the security and privacy issues that affect the IoD network. We investigate the level of security and privacy threats of the various drone categories. We then highlight the need for secured IoD architecture and propose one. We also give a comprehensive taxonomy of the attacks on the IoD network. Moreover, we review the recent IoD attack mitigating techniques. We also provide the performance evaluation methods and the performance metrics employed by the techniques. Finally, we give research future direction to help researchers identify the latest opportunities in IoD research. INDEX TERMS Attacks, Internet of Drones, IoD Architecture, Localization Error Attacks, Security and Privacy, UAS, UAV, UUV I. INTRODUCTION A drone is an aircraft or submarine operated remotely without a human pilot [1]. It has many other names. It is called Unmanned Aerial Vehicle (UAV) when used on land, Unmanned Aircraft System (UAS) when operated on air, and Unmanned Under-Water Vehicle (UUV) when employed underwater. The term drone originated from the military, while UAV and UAS were adopted by some regulators of the US Federal Aviation Administration (FAA) [2]. The history of the first drone named Torpedo can be traced back to World War I. It was invented by Dayton-Wright Airplane company for military applications [3]. However, large-scale drone production started during World War II by a company called Reginald Danny. They produced almost 15,000 drones for the US army [3]. They fitted the drones with different cameras that sent data to ground equipment [2]. The drones were also embedded with a Global Positioning System (GPS), equipment for accessing data from Google Earth and a sensor with a circuit board for data recording [2]. The Internet of Drones (IoD) derives its name from IoT by putting “Drones” in place of “Things.” Thus, IoDs have similar properties to IoT. Gharibi et al. [4] defined IoD as a layered network control architecture that helps coordinating drones [5]. IoD network paradigm could be applied in search and rescue operations, fleet monitoring, industrial inspections,