In this paper, we propose the analytical approach for amplify-and-forward (AF) relay cooperative transmission in the presence of channel estimation error (CEE) generated by pilot symbol assisted-channel estimation (PSA-CE) schemes over quasi-static Rayleigh fading channels. Average symbol error rate (SER) is expressed as the well-known closed-form by using moment generating function (MGF) of the received signal-to-noise ratio (SNR), which quantifies the SNR penalty arising from CEE. Moreover, the effect of CEE on SER performance is verified based on the number of pilot symbols and the accuracy of the derived average SER expression of M-ary phase shift keying (MPSK) is confirmed by comparison with simulation results.