This paper presents a novel framework for remote access of IP cameras with minimum pr-configuration cost. Although the usual service discovery protocols such as Zeroconf can be adopted for simplifying the pre-configuration procedures, the protocols are limited only for local services. The proposed protocol, termed STDP (Service Trader Discovery Protocol), is able to provide remote IP camera services while requiring minimum configuration complexity. The STDP is a hybrid combination of Zeroconf and SIP (session initial protocol). The Zeroconf is adopted for the discovery and/or publication of local services; whereas, the SIP is used for the delivery of local services to the remote nodes. With simple plug-and-play pre-configuration, services provided by IP cameras are then remotely available. This protocol is well-suited for high mobility applications where the fast deployment and low administration efforts of IP cameras are desired.