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Device-to-device (D2D) communication underlaying cellular networks is expected to bring significant benefits for utilizing resources, improving user throughput, and extending the battery life of user equipment. However, the allocation of radio and power resources to D2D communication needs elaborate coordination, as D2D communication can cause interference to cellular communication. In this paper, we study joint channel and power allocation to improve the energy efficiency of user equipments. To solve the problem efficiently, we introduce an iterative combinatorial auction algorithm, where the D2D users are considered bidders that compete for channel resources and the cellular network is treated as the auctioneer. We also analyze important properties of D2D underlay communication and present numerical simulations to verify the proposed algorithm.