Ultra High-Definition (UHD) and Virtual Reality (VR) video streaming over 5G networks are emerging, in which High-Efficiency Video Coding (HEVC) is used as source coding to compress videos more efficiently and polar code is used as channel coding to transmit bitstream reliably over an error-prone channel. In this article, a novel Joint Source-Channel Decoding (JSCD) of polar codes for HEVC-based video streaming is presented to improve the streaming reliability and visual quality. Firstly, a Kernel Density Estimation (KDE) fitting approach is proposed to estimate the positions of error channel decoded bits. Secondly, a modified polar decoder called R-SCFlip is designed to improve the channel decoding accuracy. Finally, to combine the KDE estimator and the R-SCFlip decoder together, the JSCD scheme is implemented in an iterative process. Extensive experimental results reveal that, compared to the conventional methods without JSCD, the error data-frame correction ratios are increased. Averagely, 1.07% and 1.11% Frame Error Ratio (FER) improvements have been achieved for Additive White Gaussian Noise (AWGN) and Rayleigh fading channels, respectively. Meanwhile, the qualities of the recovered videos are significantly improved. For the 2D videos, the average Peak Signal-to-Noise Ratio (PSNR) and Structural SIMilarity (SSIM) gains reach 14% and 34%, respectively. For the 360֯ videos, the average improvements in terms of Weighted-to-Spherically-uniform PSNR (WS-PSNR) and Voronoi-based Video Multimethod Assessment Fusion (VI-VMAF) reach 21% and 7%, respectively.