A massive multiple-input multiple-output (MIMO) system, which utilizes a large number of base station (BS) antennas to serve a set of users, suffers from pilot contamination due to the inter-cell interference (ICI). In this letter, a graph coloring based pilot allocation (GC-PA) scheme is proposed to mitigate pilot contamination for multi-cell massive MIMO systems. Specifically, by exploiting the large-scale characteristics of fading channels, an interference graph is firstly constructed to describe the potential ICI relationship of all users. Then, with the limited pilot resource, the proposed GC-PA scheme aims to mitigate the potential ICI by efficiently allocating pilots among users in the interference graph. The performance gain of the proposed scheme is verified by simulations.