Today, video surveillance systems are widely used to oversee and enhance home and premises security. For convenience and security, users often upload surveillance footage to the cloud, which can be accessed by trusted users during emergencies. However, given the sensitive nature of this data, users might be wary of trusting cloud services with user authentication and video access. Thus, managing video access control and user authentication with limited trust in cloud services presents a significant challenge. In this paper, we propose a privacy-preserving and secure scheme for storing and sharing video footage on the cloud. Homeowners can incorporate their trusted individuals into the system, thereby granting them access to view cloud-stored videos. Even in an emergency, these trusted users can collaborate to retrieve videos securely from the cloud. Our scheme allows homeowners to authenticate users and track video access without relying on cloud services. Our analysis by conducting formal proof using the Real-Or-Random (ROR) model indicates that the proposed scheme is secure. Additionally, we confirm its security and authenticity through Proverif, a formal verification tool. Informal security assessments further demonstrate its resilience against various attacks. Additionally, our communication and computational cost assessments show that our scheme is an effective and acceptable solution.