Energy efficiency is one of the most critical parameters in ultra-wideband (UWB) based wireless body area networks (WBANs). In this paper, the energy efficiency optimization problem is investigated for cooperative transmission with a single relay in UWB based WBANs. Two practical onbody transmission scenarios are taken into account, namely, along-torso scenario and around-torso scenario. With a proposed single-relay WBAN model, a joint optimal scheme for the energy efficiency optimization is developed, which not only derives the optimal power allocation but also seeks the corresponding optimal relay location for each scenario. Simulation results show that the utilization of a relay node is necessary for the energy efficient transmission in particular for the around-torso scenario and the relay location is an important parameter. With the joint optimal relay location and power allocation, the proposed scheme is able to achieve up to 30 times improvement compared to direct transmission in terms of the energy efficiency when the battery of the sensor node is very limited, which indicates that it is an effective way to prolong the network lifetime in WBANs.