Denser deployment of 5G heterogeneous ultra-dense network (H-UDN) leads to more frequent handovers, which causes higher cross-tier handover failure rate. Thus, the optimization of traditional handover strategy is needed urgently. In this paper, applying the stochastic based analytical results of cross-tier handover, we propose a novel fuzzy logic multi-attribute handover decision algorithm (FMHD). The proposed algorithm implements fuzzy analytical hierarchy process (FAHP) along with grey correlation analysis method, meanwhile combine the long-term analytical results with instant parameters involved in handover process. As a result, FMHD brings improvements to the cross-tier handover performance, which can be observed in reducing handover failure probability and ping-pong probability.