V2X communication is susceptible to attenuation and fading caused by external interference. This interference often leads to bit error and poor quality and stability of the wireless link, and it can easily disrupt packet transmission. In order to enhance communication reliability, the 3rd Generation Partnership Project (3GPP) introduced the Hybrid Automatic Repeat Request (HARQ) technology for both 4G and 5G systems. Nevertheless, it can be improved for poor communication conditions (e.g., heavy traffic flow, long-distance transmission), especially in advanced or cooperative driving scenarios. In this paper, we propose an Adaptive Hybrid Automatic Repeat Request (A-HARQ) scheme that can reduce the average block error rate, the average number of retransmissions, and the round-trip time (RTT). It adapts the Q-learning model to select the timing and frequency of retransmission to enhance the transmission reliability. We also design some transmission schemes—K-repetition, T-delay and [T, K]-overlap—which are used to shorten latency and avoid packet collision. Compared with the conventional 5G HARQ, our simulation results show that the proposed A-HARQ scheme decreases the system’s average BLER, the number of retransmissions, and the RTT to 5.55%, 1.55 ms, and 0.97 ms, respectively.