Last-mile delivery has gained much popularity in recent years, it accounts for about half of the whole logistics cost. Unlike container transportation, companies must hire significant number of employees to deliver packages to the customers. Therefore, many companies are studying automated methods such as robotic delivery to complete the delivery work to reduce the cost. It is undeniable that the security issue is a huge challenge in such a system. In this article, we propose an AI-driven robotic delivery system, which consists of two modules. A multilevel cooperative user authentication module for delivering parcel using both PIN code and biometrics verification, i.e., voiceprint and face verification. Another noncooperative user identification module using face verification which detects and verifies the identification of the customer. In this way, the robot can find the correct customer and complete the delivery task automatically. Finally, we implement the proposed system on a Turtlebot3 robot and analyze the performance of the proposed schema. Experimental results show that our proposed system has a high accuracy and can complete the delivery task securely.