Continuous authentication was introduced to propose novel mechanisms to validate users’ identity and address the problems and limitations exposed by traditional techniques. However, this methodology still poses a number of challenges that remain unsolved. In this paper, we present a novel framework, PALOT, that leverages IoT to provide context-aware, continuous and non-intrusive authentication and authorization services. To this end, we propose a formal information system model based on ontologies, representing the main source of knowledge of our framework. Furthermore, to recognize users’ behavioral patterns within the IoT ecosystem, we introduced a new module called “confidence manager”. The module is then integrated into an extended version of our early framework architecture, IoTCAF, which is consequently adapted in order to include the above-mentioned component. Exhaustive experiments demonstrate the efficacy, feasibility and scalability of the proposed solution.