With the wide application of BeiDou navigation system (BDS), the openness of its navigation signal makes it vulnerable to spoofing attacks. In this paper, an Adaptive NMA Scheme for BeiDou-III Navigation System (BD-ANMA) is proposed to enhance the anti-spoofing performance of BeiDou navigation system. The scheme combines Navigation Message Authentication (NMA) and Time Effect Stream Loss Tolerant Authentication (TESLA), utilizes the SM2 algorithm to generate signatures, and employs the SHA256 algorithm to generate the TESLA key chain and Message Authentication Code (MAC). In order to adapt to the characteristic differences between D1 navigation messages and D2 navigation messages in BDS, two authentication schemes are designed in this paper to meet the authentication requirements of different receivers in terms of synchronization performance. Through experimental tests, the results show that the scheme achieves good performance and provides an effective solution for the safety and security of the BDS.