The rapid proliferation of Internet of things (IoT) devices, such as smart meters and water valves, into industrial critical infrastructures and control systems has put stringent performance and scalability requirements on modern Supervisory Control and Data Acquisition (SCADA) systems. While cloud computing has enabled modern SCADA systems to cope with the increasing amount of data generated by sensors, actuators, and control devices, there has been a growing interest recently to deploy edge data centers in fog architectures to secure low-latency and enhanced security for mission-critical data. However, fog security and privacy for SCADA-based IoT critical infrastructures remains an under-researched area. To address this challenge, this contribution proposes a novel security “toolbox” to reinforce the integrity, security, and privacy of SCADA-based IoT critical infrastructure at the fog layer. The toolbox incorporates a key feature: a cryptographic-based access approach to the cloud services using identity-based cryptography and signature schemes at the fog layer. We present the implementation details of a prototype for our proposed secure fog-based platform and provide performance evaluation results to demonstrate the appropriateness of the proposed platform in a real-world scenario. These results can pave the way toward the development of a more secure and trusted SCADA-based IoT critical infrastructure, which is essential to counter cyber threats against next-generation critical infrastructure and industrial control systems. The results from the experiments demonstrate a superior performance of the secure fog-based platform, which is around 2.8 seconds when adding five virtual machines (VMs), 3.2 seconds when adding 10 VMs, and 112 seconds when adding 1000 VMs, compared to the multilevel user access control platform.