In order to decrease energy consumption caused by the dense deployment of pico base stations (PBSs) in heterogeneous cellular networks (HetNets), this paper first analyzes the energy efficiency (EE) of two-tier HetNets and then proposes a method to maximize the network EE by adjusting the PBS transmit power. The two-tier HetNets are modeled by the Poisson point process (PPP) and the Poisson hole process (PHP), and then the coverage probability of the macro base station (MBS) and the PBS in the two-tier HetNets is derived based on the mean interference to signal ratio (MISR). According to the user association probability, the coverage probability of the PPP-PHP HetNets is obtained. Then, the tractable expression of the average achievable rate is deduced on the basis of the relationship between the coverage probability and the average achievable rate. Finally, the expression of EE is derived and the EE optimization algorithm is proposed based on the PBS transmit power. The simulation results show that the PPP-PHP network is superior to the PPP-PPP network in terms of coverage probability and EE, and the network EE can be effectively improved by setting an appropriate PBS transmit power.