Many conference systems over the Internet require authenticated group key agreement (AGKA) for secure and reliable communication. After Shamir [1] proposed the ID-based cryptosystem in 1984, ID-based AGKA protocols have been actively studied because of the simple public key management. In 2006, Zhou et al. [12] proposed two-round ID-based AGKA protocol which is very efficient in communication and computation complexity. However, their protocol does not provide user identification and suffers from the impersonation attack by malicious participants. In this paper, we propose improved ID-based AGKA protocol to prevent impersonation attack from Zhou et al.’s protocol. In our protocol, the malicious insider cannot impersonate another participants even if he knows the ephemeral group secret value. Moreover, our protocol reduces the computation cost from Zhou et al.’s protocol.