Authenticated safety beacons in Vehicular Communication (VC) systems ensure awareness among neighboring vehicles. However, the verification of beacon signatures introduces significant processing overhead for resource-constrained vehicular On-Board Units (OBUs). Even worse in dense neighborhood or when a clogging Denial of Service (DoS) attack is mounted. The OBU would fail to verify for all received (authentic or fictitious) beacons. This could significantly delay the verifications of authentic beacons or even affect the awareness of neighboring vehicle status. In this paper, we propose an efficient cooperative beacon verification scheme leveraging efficient symmetric key based authentication on top of pseudonymous authentication (based on traditional public key cryptography), providing efficient discovery of authentic beacons among a pool of received authentic and fictitious beacons, and can significantly decrease waiting times of beacons in queue before their validations. We show with simulation results that our scheme can guarantee low waiting times for received beacons even in high neighbor density situations and under DoS attacks, under which a traditional scheme would not be workable.