Deniable authenticated protocol is a new cryptographic authentication protocol that enables a designated receiver to identify the source of a given message without being able to prove the identity of the sender to a third party. Therefore, it can be applied to some particular situations in electronic commerce. In this paper, we formally define the security model for the non-interactive ID-based deniable authentication protocol and present a new efficient ID-based deniable authentication protocol based on RSA assumption. What's more, we also use the techniques from provable security to analyze the security of our proposed protocol.