In a cache-enabled D2D underlaid cellular network, cooperation of BS caching and D2D caching can further exploit the limited storage capacity and achieve more efficient wireless resource utilization. In this complex network scenario, the closed form expression for successful transmission probability is firstly derived using stochastic geometry, to measure the proportion of users satisfying the delay guarantee. On this basis, a cooperative caching placement problem is formulated to maximize the successful transmission probability. We prove it can be transformed equivalently into a biconvex problem and then a block coordinate descent based algorithm is proposed. Simulation results demonstrate the performance gain of the proposed cooperative caching placement.