In this paper, we investigate the energy-efficient resource allocation problem in an uplink non-orthogonal multiple access (NOMA) millimeter wave system, where the fully-connected-based sparse radio frequency chain antenna structure is applied at the base station (BS). To relieve the pilot overhead for channel estimation, we propose a codebook-based analog beam design scheme, which only requires to obtain the equivalent channel gain. On this basis, users belonging to the same analog beam are served via NOMA. Meanwhile, an advanced NOMA decoding scheme is proposed by exploiting the global information available at the BS. Under predefined minimum rate and maximum transmit power constraints for each user, we formulate a max-min user energy efficiency (EE) optimization problem by jointly optimizing the detection matrix at the BS and transmit power at the users. We first transform the original fractional objective function into a subtractive one. Then, we propose a two-loop iterative algorithm to solve the reformulated problem. Specifically, the inner loop updates the detection matrix and transmit power iteratively, while the outer loop adopts the bisection method. Meanwhile, to decrease the complexity of the inner loop, we propose a zero-forcing (ZF)-based iterative algorithm, where the detection matrix is designed via the ZF technique. Finally, simulation results show that the proposed schemes obtain a better performance in terms of spectral efficiency and EE than the conventional schemes