Reliable and flexible emergency communication is a crucial challenge for search and rescue in the circumstance of disasters, specifically for the situation when base stations (BS) are no longer functioning. Unmanned aerial vehicle (UAV)aided networking is becoming a prominent solution to establish emergency networks with the underlay device-to-device (D2D), which also should be energy-efficient. In this article, we study energy-efficiency (EE) maximization for interference-aware underlay D2D-enabled UAV-aided 5G systems. All the interference scenarios are taken into account while modeling the system architecture. Afterward, we formulate an objective function to optimize EE maximization, which shows the characteristic of an NP-hard nonconvex research problem. Therefore, we transform the nonconvex problem into a convex one by reformulating the constraint functions with the cubic inequality method. Several criteria are developed to satisfy the non-negativity of the reformulating constraint. This leads the problem to be solved as a convex optimization method and results in an efficient iterative resource allocation algorithm. In each iteration, the transformed problem is solved by using Lagrangian dual decomposition with a projected gradient method. In the end, we analyze the convergence behavior of the studied algorithm and also compared it with another existing algorithm through numerical simulations.