Vehicles are becoming increasingly connected to the outside world. We can connect our devices to the vehicle’s infotainment system and internet is being added as a functionality. Therefore, security is a major concern as the attack surface has become much larger than before. Consequently, attackers are creating malware that can infect vehicles and perform life-threatening activities. For example, a malware can compromise vehicle ECUs and cause unexpected consequences. Hence, ensuring the security of connected vehicle software and networks is extremely important to gain consumer confidence and foster the growth of this emerging market. In this paper, we propose a characterization of vehicle malware and a security architecture to protect vehicle from these malware. The architecture uses multiple computational platforms and makes use of the virtualization technique to limit the attack surface. There is a real-time operating system to control critical vehicle functionalities and multiple other operating systems for non-critical functionalities (infotainment, telematics, etc.). The security architecture also describes groups of components for the operating systems to prevent malicious activities and perform policing (monitor, detect, and control). We believe this work will help automakers guard their systems against malware and provide a clear guideline for future research.