With the increase in user density, it is a challenging problem to achieve higher energy efficiency in vehicle-to-everything (V2X) networks, where frequent handovers occur as users continuously pass through dense cell boundaries. In this paper, we investigate this energy efficiency problem in a highly dense V2X network. To alleviate inter-cell interference and reduce unnecessary handovers, we propose a user-centric network architecture and utilize the coordinated multiple point (CoMP) transmission scheme to enable multiple roadside access points (APs) simultaneously to service one mobile vehicle. Moreover, non-orthogonal multiple access (NOMA) is adopted to enable multiple users to multiplex within one sub-channel and improve system spectrum reuse. Accordingly, the energy efficiency optimization problem is formulated as system achievable rate per joule, with the constraints of the AP transmit power budget, vehicle minimum rate requirements, and the maximum number of CoMP APs serving each vehicle. To solve the optimization problem, a semi-dynamic CoMP AP clustering algorithm is proposed to select a group of CoMP APs to serve a vehicle user by considering the vehicle–AP channel coefficients and the vehicle user’s achievable energy efficiency. Then, with the selected CoMP AP clusters, a bidirectional selection algorithm is applied via NOMA to select multiple vehicle users multiplexing within one sub-channel and perform sub-channel power allocation. Numerical simulations are presented to verify the effectiveness of the proposed algorithms, and the results show the improvements offered by the proposed algorithms compared to current benchmarks.