To meet the demand for higher throughput, improved coverage and enhanced reliability, future wireless cellular networks face significant technical challenges. One promising solution is to place relay stations between transmitters and receivers in the cellular network. Meanwhile, as energy consumption reduction has been an important concern for the wireless industry, energy-efficient communications is of prime interest for future networks. In this paper, we study whether and how relays can improve the energy efficiency of cellular networks. Specifically, the energy efficiency of relay-assisted cellular networks is analyzed using tools of stochastic geometry. We first derive the coverage probability for the macro base station (MBS) to user (UE), the MBS to relay station (RS), and the RS to UE links, and then we model the power consumption at the MBS and RS. Based on the analytical model and expressions, the energy efficiency of relay-assisted cellular networks is then evaluated and is shown to be strictly quasi-concave on the transmit power for MBS to UE link or the RS to UE link. Numerical results show that the energy efficiency first improves while it hits a ceiling as the MBS density increases.