Heterogeneous networks (HetNets) are intended to offer wide area coverage and high data rate transmission by deploying small cells besides macrocells. Device-to-device (D2D) communication as an underlay of cellular network enriches local service and offloads base station. In this paper, we target the video transmission demanded by picocell edge users (PEUEs), who suffer from low quality channel due to the inter-cell interference from macrocell and long physical distance from picocell. Moreover, the wireless channels are burst-loss prone for upper layer applications such as video on demand (VoD), which makes the traditional channel coding such as forward error correction (FEC) insufficient. In this paper, we address these issues and propose a cooperative video transmission scheme to improve PEUEs' received video quality by constructing two transmission paths from picocell to each PEUE. The two transmission paths are the direct transmission from pico-eNB (i.e., base station) to PEUE and a relay-assisted path by means of D2D communication for frame recovery, respectively. Reference frame selection and unequal error protection are adopted to further improve the overall performance. Extensive simulations are conducted and results demonstrate that the proposed scheme outperforms state-of-the-art scheme in Config.4b scenarios defined by 3GPP.