In existing literature on multiple-input multiple-output (MIMO) relaying communication systems, antenna selection is often implemented by maximizing the channel capacity or the output single-to-noise ratio (SNR). In this paper, we propose an energy efficient low-complexity antenna selection scheme for MIMO relaying communication systems. The proposed algorithm is based on beamforming andmaximizing the Frobenius norm to jointly optimize the transmit power, number of active antennas, and antenna subsets at the source, relaying and destination. We maximize the energy efficiency between the link of source to relay and the link of relay to destination to obtain the maximum energy efficiency of the system, subject to the SNR constraint. Compared to existing antenna selection methods forMIMO relaying communication systems, simulation results demonstrate that the proposedmethod can save more power in term of energy efficiency, while having lower computational complexity.