The performance of the hybrid beamforming system based on the full-connected structure is close to that of the full-digital one in millimeter-wave (mmWave) massive multiple-input multiple-output (MIMO) systems. However, due to the high complexity of circuit wiring in practical applications, it has been greatly restricted. This paper investigates the hybrid (analog/digital) beamforming design of a multiuser mmWave massive MIMO system with sub-connected structure. For this system, we focus on a sum-rate maximization probelm. Considering the joint design of the receiver, and transmitter, a two-stage design method is adopted. In the analog stage, the analog beamformer, and combiner are designed by the proposed piecewise dual joint iterative approximation (PDJIA) method, which not only can obtain closed-form solutions but also has linear property. Based on the criterion of avoiding the loss of information, the problem of digital beamforming is solved by exploiting the baseband piecewise successive approximation (BPSA) method, which can effectively increase the number of users served. Simulation results show that the proposed scheme outperforms the state-of-the art MIMO hybrid beamforming design schemes, and more accurately approximates to that of the full-digital system.