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Abstract In this paper, a joint detection strategy of Willie based on two phases observation is proposed and an energy‐efficient covert communication scheme with an adaptive assist nodes group (AANG) based on uniform jamming power (UJP) strategy is proposed to against the joint‐phase detection of Willie, which achieves covert communication with lower energy cost and higher average covert rate (ACR). The probability of detection error (PDE) at Willie with joint‐phase detection and ACR are derived. Furthermore, the optimal power allocation of legitimate transmitters is resolved to maximize ACR. Numerical results demonstrate the benefit of the proposed scheme over the covert rate and consumed jamming power.