We introduce a decentralized public key infrastructure (DPKI) for the Internet of Things (IoT), leveraging Kademlia-based Distributed Hash Tables (DHT) for robust authentication and elimination of single points of failure. Building on this DPKI foundation, we propose a modified Quick UDP Internet Connections (QUIC) protocol tailored for peer-to-peer IoT communication, aiming to reduce overhead and latency. This peer-to-peer QUIC framework ensures low-latency, zero round trip time(0-RTT) session resumption at the network's edge, making it suitable for resource-constrained devices. To further optimize performance, we employ Elliptic Curve Diffie-Hellman (ECDH) for secure handshakes and integrate Salsa20 as a lightweight symmetric encryption algorithm. Simulation results in NS-3 demonstrate faster secure session establishment times and more efficient cryptographic operations compared to existing solutions, highlighting the advantages of our approach for IoT environments.