A key generation method for self-configuration is provided which includes selecting existing nodes as many as a predefined reference number t from nodes which configure a network; transmitting a partial key request message to the selected existing nodes; and generating a node key based on randomized partial keys received in response to the partial key request. Accordingly, when a new node intends to join the network, the existing nodes forming the network can allocate a node key to the new node by themselves. Also, whether the node key of the new node is compromised or not can be verified using the error-checking witness.