EMAP is an expedite message authentication protocol proposed for vehicular ad hoc networks (VANETs). It replaces the time-consuming process of checking certificate revocation lists (CRLs) during message authentication with a more efficient revocation checking process using keyed hash message authentication codes (HMACs). In EMAP, only non-revoked vehicles can securely share and update a secret key used to calculate the HMACs. This allows EMAP to significantly decrease message loss due to authentication delays compared to conventional methods using CRLs. Security analysis and performance evaluation show that EMAP is secure and efficient.