How do I get rid of iPhone verification failed screen?

Fix the issue in 5 steps.

Error Connecting Apple ID, Verification Failed. How-To Fix

This kind of message often appears after a restore or iOS update. In most cases, it means that your device is not allowing you to connect to Apple’s iCloud verification servers.

Note: To solve the issue, another iPhone is necessary.

Follow these steps to get rid of the annoying message:

Sign in with your Apple ID on another iPhone.
Go to Settings > iCloud.
Select Password and Security.
Tap Generate Verification Code.
Now enter the new verification code into the iPhone with the error.

Your iOS should work fine now, enjoy!