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This paper presents PatrIoT, which efficiently monitors the behavior of a programmable IoT system at runtime and suppresses contemplated actions that violate a given declarative policy. Policies in PatrIoT are specified in effectively propositional, past metric temporal logic and capture the system’s expected temporal invariants whose violation can break its desired security, privacy, and safety guarantees. PatrIoT has been instantiated for not only an industrial IoT system (EVA ICS) but also for two home representative automation platforms: one proprietary (SmartThings) and another open-source (OpenHAB). Our empirical evaluation shows that, while imposing only a moderate runtime overhead, PatrIoT can effectively detect policy violations.