Massive multiple-input and multiple-output (MIMO) has been recognized as a core technology for the fifth generation networks due to its huge spectral utilization brought by multiplexing gain and array gain. Most previous works on Massive MIMO systems have focused on the power optimization to maximize the system energy efficiency, in which the ergodic achievable sum-rate is replaced with a lower bound closed-form expression, which can result in suboptimal performance. In this paper, we aim to optimize the power assignment to achieve the maximum energy efficiency for a downlink system of single-cell Massive MIMO based on a tight approximate expression for the achievable sum-rate. Considering two linear precoding strategies at base station, i.e., maximum ratio transmission and zero-forcing, we first derive the corresponding approximate closed-form of the achievable sum-rate under imperfect channel state information. Furthermore, an energy-efficient power allocation scheme is formulated as a non-convex optimization problem. An iterative power allocation algorithm that maximizes the system energy efficiency is developed based on the Lagrangian dual approach. Simulation results demonstrate the tightness of the proposed approximate closed-form expressions, and show that our designed algorithm yields much better energy efficiency performance over the existing algorithms.