In order to provide intelligent services, the Internet of Things (IoT) facilitates millions of smart cyber-physical devices to be enabled with network connectivity to sense, collect, process, and exchange information. Unfortunately, the traditional communication infrastructure is vulnerable to cyber attacks and link failures, so it is a challenging task for the IoT to explore these applications. In order to begin research and contribute into the IoT-based cyber-physical digital world, one will need to know the technical challenges and research opportunities. In this study, several key technical challenges and requirements for the IoT communication systems are identified. Basically, privacy, security, intelligent sensors/actuators design, low cost and complexity, universal antenna design, and friendly smart cyber-physical system design are the main challenges for the IoT implementation. Finally, the authors present a diverse set of cyber-physical communication system challenges such as practical implementation, distributed state estimation, real-time data collection, and system identification, which are the major issues require to be addressed in implementing an efficient and effective IoT communication system.