With increase in applicability of RFID technology, there is ever growing demand for security. The popularity of RFID applicability lies in its ability for automatic identification and low-cost of RFID tags. Most of the recent security protocols for RFID technology are based on cryptographic hash-based function which currently cannot be implemented on low-cost RFID tags. In this paper, we present a lightweight protocol based on key transportation and authentication using threshold secret sharing scheme which provides strong security on low-cost RFID tags without the need to connect to the backend server. Our solution is based on an asymmetric computation strategy allocating mathematical operations such as modular addition and XOR on passive RFID tags and move the computational complexity to the RFID interrogators. We believe a secure protocol on low-cost RFID tags would make RFID technology ubiquitous.