Device-to-device (D2D) communication is a key enabler to facilitate the realization of the Internet of Things in which direct communication between mobile users is allowed without the intervention of the base station. One of the most challenging issues in the D2D cellular network is a low-complexity and reliable initial synchronization. To solve this issue, an efficient joint detection of integer carrier frequency offset (IFO) and set information (SI) is proposed for D2D communication in a long term evolution (LTE) system. Unlike the conventional approach, the primary sidelink synchronization signal (PSSS) and secondary sidelink synchronization signal (SSSS) transmitted in the LTE-D2D system are used together to remove the effect of channel fading and symbol timing offset (STO). In addition, the conjugate property between two PSSS sequences is utilized. This design facilitates robust sequential detection of the IFO and SI without priori information on two synchronization signals when residual STO is present. It has been demonstrated that the inherent properties of the PSSS and SSSS sequences are effectively used for efficient cell search in the presence of residual STO, compared to existing methods.