The Internet of Vehicles (IoV) offers an emerging paradigm that deals with interconnected vehicles interacting with the infrastructure, roadside units (RSUs), sensors, and mobile devices with a goal to sense, compute, store, and transmit vital information or data over a common channel while vehicles are moving. Secure and reliable communication and efficient on-device performance are thus crucial challenges in this paradigm, particularly in presence of limited computation resources. This paper presents a novel secure and energy-efficient message communication system, called MComIoV, using a one-way hash function and elliptic curve cryptography (ECC). We evaluate MComIoV through security proof and analysis against various attacks to verify its robustness. The proposed system is also implemented and tested on Raspberry Pi 3B+. Experimental results demonstrate the efficiency in computation time, storage cost, communication overhead, and energy consumption.