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Chaos theory and its extension into cryptography has generated significant applications in industrial mixing, pulse width modulation and in electric compaction. Likewise, it has merited applications in authentication mechanisms for wireless power transfer systems. Wireless power transfer (WPT) via resonant inductive coupling mechanism enables the charging of electronic devices devoid of cords and wires. In practice, the key to certified charging requires the use of an authentication protocol between a transmitter (charger) and receiver (smartphone/some device). Via the protocol, a safe level and appropriate charging power can be harvested from a charger. Devoid of an efficient authentication protocol, a malicious charger may fry the circuit board of a receiver or cause a permanent damage to the device. In this regard, we first propose a chaos-based key exchange authentication protocol and analyze its robustness in terms of security and computational performance. Secondly, we theoretically demonstrate how the protocol can be applied to WPT systems for the purposes of charger to receiver authentication. Finally, we present insightful research problems that are relevant for future research in this paradigm.