The D2D communication is expected to improve devices' energy-efficiency, which has become a major requirement of the future wireless network. Before the D2D communication can be performed, the device discovery between devices must be done. The previous works usually only assumed one mode of device discovery, i.e. either use network-assisted (with network supervision) or independent (without network supervision) device. Therefore, we propose a selective device discovery for device-to-device (D2D) communication that can utilize both device discovery modes and maintain devices' energyefficiency. Different from previous works, our proposed method selects the best device discovery mode to get the best energy-efficiency. Moreover, to further improve the energy-efficiency, our proposed method also deployed in D2D cluster with multiple cluster heads. The proposed method selects the most suitable mode using thresholds (cluster energy consumption and new device acceptance) and cluster energy expectation. Our experiment result indicates that the proposed method provides lowest energy consumption per new accepted device while compared with schemes with full network-assisted and independent device discovery in low numbers of new device arrival (for the number of new devices arrival = 1 ~ 3).