The traditional IoT device management system may have drawbacks such as easy leakage of privacy data and difficulty in grasping the device operation conditions and tracing abnormal events, which poses adverse effects on individuals, enterprises, and even society. Given these problems, the study proposed a blockchain-based IoT device autonomous control and behavior audit scheme. Through blockchain deposition technology, the device information connected to the system is anchored to the blockchain to manage the whole life cycle of the device. Moreover, based on smart contract technology, the integrated autonomous control process including data collection, analysis, and remote control of IoT devices is realized. Finally, the scheme explores the untamperable and traceable features of blockchain to audit the users’ behavior. The analysis results show that the proposed scheme has high security and strong scalability, which has the ability to build a security management architecture for the IoT systems.