With the proliferation of Internet of Things (IoT) ecosystems, traditional resource orchestration mechanisms, executed on fog devices, encounter significant scalability, reliability and security challenges. To tackle these challenges, recent decentralized algorithms in Fog-IoT use Distributed Ledger Technologies to orchestrate resources and payments between peers. However, while distributed ledgers provide many desirable properties, their consensus mechanism introduces a performance bottleneck. This paper introduces Light-HIDRA, a consensus-less and decentralized resource orchestration system for Fog-IoT environments. At its core, Light-HIDRA uses Byzantine Reliable Broadcast (BRB) to coordinate actions without centralized control, therefore drastically reducing communication overhead and latency compared to consensus-based solutions. Light-HIDRA coordinates the scheduling and execution of workloads, and securely manages the payments that peers receive for dedicating resources to workloads. Light-HIDRA further increases performance and reduces overhead by grouping peers into distinct domains. We conduct an in-depth analysis of the protocol’s security properties, investigating its efficiency and robustness in diverse situations. We evaluate the performance of Light-HIDRA, highlighting its performance over HIDRA, a state-of-the-art baseline that uses smart contracts. Our experiments demonstrate that Light-HIDRA reduces the bandwidth usage by up to 57x, the latency of workload offloading by up to 142x, and shows superior throughput compared to HIDRA.