The multi-antenna non-orthogonal multiple access (NOMA) technique is a promising method to enhance energy and spectrum efficiencies of wireless communication systems through advanced precoding algorithms. However, traditional NOMA schemes encounter high complexity issues due to the successive interference cancellation (SIC) process at the receiver end. Moreover, conventional precoding designs for multi-antenna NOMA systems only utilize user channel state information and overlook the modulation details of transmitted data symbols, which may result in suboptimal performance. To overcome these disadvantages, we propose a symbol-level precoding (SLP) scheme to maximize the energy efficiency of the system, which has been little studied in the literature. Furthermore, the proposed SLP scheme makes the “interference signals” to fall within the decoding region of the “desired signal”, eliminating the need for an SIC receiver, thereby reducing the complexity of the NOMA system in practical applications. To resolve the optimization problem associated with the SLP scheme, we develop a fractional programming and successive upper-bound maximization based algorithm. Our simulation results demonstrate the effectiveness of the proposed SLP scheme and algorithms in improving the energy efficiency of the system.