Vehicle-to-everything (V2X) communications, which provide wireless connectivity among vehicles, roadside drivers, passengers, and pedestrians, are attracting great interest. In this paper, we propose an energy-efficient relay assisted transmission scheme based on V2X communications in the uplink cellular networks for delay insensitive applications. We aim to maximize energy efficiency of the uplink while considering both the circuit power and transmit power consumption, as well as the delay constraint. The optimal resource allocation for direct transmission mode and V2X-enabled transmission mode are derived. For the V2X-enabled transmission mode, we first consider the transmission without the delay constraint and obtain the corresponding optimal power allocation. Based on the obtained result, we further propose the optimal resource allocation policy that satisfies the delay constraint and minimizes the energy consumption. Simulation results show that there exists an energy-delay tradeoff and the proposed V2X-enabled scheme can achieve significant energy saving with an acceptable delay compared with the traditional direct scheme, the decoding-and-forward based transmission scheme, and the opportunistic store-carry and forward based transmission scheme, especially when the cell radius is not small.