Cryptography based on chaos theory has developed fast in the past few years, but most of the researches focus on secret key cryptography. There are few public key encryption algorithms and cryptographic protocols based on chaos, which are also of great importance for network security. We introduce an enhanced key agreement protocol based on Chebyshev chaotic map. Utilizing the semi-group property of Chebyshev polynomials, the proposed key exchange algorithm works like Diffie-Hellman algorithm. The improved protocol overcomes the drawbacks of several previously proposed chaotic key agreement protocols. Both analytical and experimental results show that it is effective and secure.