1. Create a standard IP access list that permits only the host or hosts you want to be able to telnet into the routers.
2. Apply the access list to the VTY line with the access-class command.
Here is an example of allowing only host 172.16.10.3 to telnet into a router:
Lab_A(config)#access-list 50 permit 172.16.10.3
Lab_A(config)#line vty 0 4
Lab_A(config-line)#access-class 50 in