This paper investigates the hybrid precoding design in millimeter-wave (mmWave) systems with a fully-adaptive-connected precoding structure, where a switch-controlled connection is deployed between every antenna and every radio frequency (RF) chain. To maximally enhance the energy efficiency (EE) of hybrid precoding under this structure, the joint optimization of switch-controlled connections and the hybrid precoders is formulated as a large-scale mixed-integer non-convex problem with high-dimensional power constraints. To efficiently solve such a challenging problem, we first decouple it into a continuous hybrid precoding (CHP) subproblem. Then, with the hybrid precoders obtained from the CHP subproblem, the original problem can be equivalently reformulated as a discrete connection-state (DCS) problem with only 0-1 integer variables. For the CHP subproblem, we propose an alternating hybrid precoding (AHP) algorithm. Then, with the hybrid precoders provided by the AHP algorithm, we develop a matching assisted fully-adaptive hybrid precoding (MA-FAHP) algorithm to solve the DCS problem. It is theoretically shown that the proposed MA-FAHP algorithm always converges to a stable solution with the polynomial complexity. Finally, simulation results demonstrate the superior performance of the proposed MA-FAHP algorithm in terms of EE and beampattern.