TLS
From Net-SNMP Wiki
TLS stands for "Transport Layer Security" and is a method of securing TCP and SCTP connections using X.509 certificates for authenticating both sides of the connection and dynamically generated integrity protection and encryption session keys. It is defined in rfc:5246. It uses X.509 certificates for authenticating both sides of the connection.
Net-SNMP 5.6 and above supports SNMP over TLS. Instructions for using it can be found on the Using DTLS page and the tutorial for using it with the test server can be found at Using TLS.
For lossy networks where TCP does not perform well, consider using DTLS instead.