Mobile Ad Hoc Networks (MANETs) are multihop wireless networks of mobile nodes without any fixed or preexisting infrastructure. The topology of these networks can change randomly due to the unpredictable mobility of nodes and their propagation characteristics. In most networks, including MANETs, each node needs a unique identifier to communicate. This work presents a distributed protocol for dynamic node IP address assignment in MANETs. Nodes of a MANET synchronize from time to time to maintain a record of IP address assignments in the entire network and detect any IP address leaks. The proposed stateful autoconfiguration scheme uses the OLSR proactive routing protocol for synchronization and guarantees unique IP addresses under a variety of network conditions, including message losses and network partitioning. Simulation results show that the protocol incurs low latency and communication overhead for IP address assignment.