In this paper, we address the optimization of the energy efficiency of underlay multicast device-to-device (D2MD) communications on cellular networks. In particular, we maximize the energy efficiency of both the global network and the individual users considering various fairness factors such as maximum power and minimum rate constraints. For this, we employ a canonical mixed-integer non-linear formulation of the joint power control and resource allocation problem. To cope with its NP-hard nature, we propose a two-stage semi-distributed solution. In the first stage, we find a stable, yet sub-optimal, channel allocation for D2MD groups using a cooperative coalitional game framework, allowing co-channel transmission over a set of shared resource blocks and/or transmission over several different channels per D2MD group. In the second stage, a central entity determines the optimal transmission power for each user in the system via fractional programming. We performed extensive simulations to analyze the resulting energy efficiency and attainable transmission rates. The results show that the performance of our semi-distributed approach is very close to that obtained with a pure optimal centralized one.