According to one embodiment of the present specification, a method for performing authentication between an authentication initiator and an authentication responder in a wireless power transmission system comprises the steps in which: the authentication initiator transmits an initiator certificate chain and an initiator signature to the authentication responder; the authentication initiator receives a responder certificate chain and a responder signature from the authentication responder who has authenticated the authentication initiator by verifying the initiator signature information; and the authentication initiator verifies the responder signature to authenticate the authentication responder.