The hybrid precoding (HP) technique has been widely considered as a promising approach for millimeter wave communication systems. In general, the existing HP structure with a complicated high-resolution phase shifter network can achieve near-optimal spectral efficiency, however, it involves high energy consumption. The HP architecture with an energy-efficient switch network can significantly reduce the energy consumption. To achieve maximum energy efficiency, this paper focuses on the HP architecture with switch network and considers a novel adaptive analog network HP structure for such mmWave MIMO systems, which can provide potential array gains. Moreover, a multiuser adaptive coordinate update algorithm is proposed for the HP design problem of this new structure. Simulation results verify that our proposed design can achieve better energy efficiency than other recently proposed HP schemes when the number of users is small.