With　the　rapid　development　of　intelligent　connected　vehicles　(ICVs),　their　intelligent,　remote,　and　high-speed　mobility　characteristics　have　led　to　an　expansion　of　their　attack　surface,　and　thus　an　increase　in　security　requirements.　Consequently,　security　research　for　ICVs　has　become　a　current　research　focus.　However,　existing　security　risk　monitoring　measures　lack　linkage　with　attack　behavior,　and　security　defense　strategies　cannot　fully　and　promptly　respond　to　security　risk　levels　and　system　vulnerabilities.　Therefore,　this　paper　proposes　a　security　evaluation　framework　for　ICVs　based　on　attack　chains.　The　framework　focuses　on　the　mechanism　and　steps　of　attack　generation,　evaluates　the　current　risk　level　and　degree　of　harm　in　a　targeted　manner,　and　maps　appropriate　security　management　measures　according　to　the　degree　of　harm.　This　security　evaluation　model　integrates　various　defense　mechanisms　and　resolves　the　mismatch　between　existing　ICV　security　defense　measures　and　security　situations.　The　effectiveness　of　this　model　has　been　validated　through　experiments,　and　potential　research　directions　in　the　future　are　discussed　and　analyzed.