We consider the use of received signal strength based radio fingerprints for energy efficient inter-frequency small cell discovery. The fingerprint data is optimized by removing redundant information and sent to the mobile station by the network on entering a cell for the first time within a specified time period. The fingerprint data is further used for small cell discovery. We evaluate the performance of the scheme using system level simulations in a heterogeneous network scenario considering the power consumed for finding small cells and the fraction of offloading potential utilized. System level simulations are conducted using 3GPP LTE-Advanced heterogeneous network setting using a realistic movement model. We also consider the energy consumed for signaling measurement reports from a mobile station to the base station and the simulations done show that significant energy savings can be obtained by using the evaluated scheme without compromising the available offloading potential. The evaluated scheme enables autonomous mobility and small cell discovery within a cellular network.