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As shown above one of my lambda function HelloCloudGurus which trigger by API gateway and it can be triggered by the API link as below:

https://APIServiceID.execute-api.ap-southeast-1.amazonaws.com/prod/HelloCloudGurus

When I click on the link it shows that I can still access the link despite the Authorization has been set to AWS_IAM?

How to configure it so that it will validate signature on request and return me something like below?

{"message":"Missing Authentication Token"}
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    Did you remember to deploy the API? Commented Sep 19, 2017 at 3:22

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Please use Cognito. You can still acheive it by API Gateway Custom Authorizer but Cognito is the right candidate for security. Have a read on below AWS documentation for custom authorizer,

http://docs.aws.amazon.com/apigateway/latest/developerguide/use-custom-authorizer.html

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