Nowadays chaos theory is widely used in cryptography. In the real world, in order to ensure secure communication, many chaotic maps-based key agreement protocols have been proposed. Most of them used a smart card on account of the inherent ability of anti-interference. Popularly, many related protocols using smart card are used for a single server environment. However, existing single server authentication protocols more or less have some defects. For a single server environment, if a remote user feels like using a number of network services, it is so complicated and boring to repeatedly register a new identity and password. To address this problem, numerous multi-server authentication schemes have been proposed. However, these existing proposed schemes pay attention to efficiency to ignore confidentiality, or focus on the message integrity to ignore efficiency. In our proposed paper, we propose a robust biometrics-based multiserver password-authenticated key agreement scheme on chaotic maps cryptosystem. In terms of the analysis of the security and functionality, the proposed scheme has a mass of merits, for instance, prefect forward secrecy, session key secrecy, robust biometrics authentication, password update secrecy, mutual authentication and key agreement. In addition, the proposed scheme can resist common attacks such as guessing attack, replay attack, man-in-the-middle attack and so on. In terms of the efficiency analysis, the proposed scheme is more practical.