Hybrid precoding has been recognized as a promising technology for millimeter wave-based massive MIMO systems. As an improved scheme for conventional hybrid precoding structures, the adaptively-connected structure requires low hardware cost and has attractive system performance. In this paper, we propose an adaptive hybrid precoding (AHP) scheme for multi-user massive MIMO systems. The hybrid precoder design is formulated as minimizing the difference between the hybrid precoder and the full digital precoder, and a rough design and revision based AHP (RDR-AHP) algorithm is developed to seek for a near-optimal solution. The proposed RDR-AHP algorithm is achieved by a three-step process including rough design of baseband precoder based on singular value unification, stepwise design of radio frequency precoder and baseband precoder revision. Simulation results demonstrate that the proposed scheme achieves higher spectral efficiency than existing schemes with same hardware cost in millimeter wave channel.