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The Internet of Things (IoT) represents a vast network of interconnected devices engaged in continuous data exchange, real-time information processing, and autonomous decision-making through the Internet. The pervasive presence of sensitive data on IoT devices highlights their indispensable role in our daily lives. The rapid evolution of Information and Communications Technology (ICT) has ushered in a new era of interconnected devices, reshaping the computing landscape. With the expanding IoT ecosystem, cyberspace has become increasingly susceptible to frequent cyber threats. While IoT devices have greatly simplified and automated daily tasks, these devices have simultaneously introduced significant security vulnerabilities. The existing inadequacies in safeguarding these smart devices have rendered IoT the most vulnerable entry point for potential breaches, posing a tempting target for malicious actors. In response to these critical challenges, our study introduces an innovative solution known as Swarm-based Inline Machine Learning (SIML). This approach leverages the coordinated data processing capabilities of a swarm to effectively address and counter emerging malware threats. SIML represents a divergence from conventional standalone threat detection systems, offering a promise of more robust, distributed, and end-to-end security solutions for IoT environments. This approach significantly reduces the risk of malicious exploitation of IoT devices for launching cyber-attacks. The effectiveness of our proposed method was validated through rigorous testing using the UNSW-NB15 dataset. The results are compelling, boasting an impressive accuracy rate of 93.7% and a precision rate of 95%, achieved through the application of the Gradient-Boosting Tree algorithm under the proposed framework. Our comparative analysis reveals that the Gradient Boosting algorithm outperforms traditional methods without compromising efficiency when deployed in an inline setting. Furthermore, the proposed method has been benchmarked against the BoT-Iot and Edge-IIoTset datasets, and outperformance is noted with a minor degradation at higher throughput. This innovative approach not only enhances security in IoT but also paves the way for a safer and more resilient digital future.