An Internet of Vehicles system performing connection authentication through a public network and a connection method using the same are disclosed. A mobile device transmits an authentication code to a remote cloud server to complete an online identity authentication, searches a local vehicular computer through a Bluetooth connection after completion of the online identity authentication, exchanges information with the vehicular computer, authenticates the exchanged information, and establishes connection with the vehicular computer after completion of the authentication. For control over the vehicular computer of a vehicle through the mobile device, the online identity authentication must be completed before data exchange and established secure connection, thereby effectively enhancing effectiveness of connection security and lowering the risk of vehicle theft.