The fifth-generation (5G) wireless system was implemented due to the massive connectivity, especially Internet of Things (IoT) including industrial automation, Vehicle to Everything (V2X) communications, which is shelter an extensive range of applications services and use cases and Intelligent Transportation Systems (ITS). A cellular Non-Orthogonal Multiple Access (NOMA) based on radio resource allocation schemes need to be carefully designed to serve and support the diversity of applications and services, through increased safety and traffic efficiency usage of connected vehicle and ranging from infotainment services. In this paper, we develop a novel scheduling and resource allocation algorithm for vehicular communications named Priority -based Scheduling Algorithm for NOMA integrated V2X (PSA). The novel scheme could make the limited radio Resource Blocks (RB) to be assigned in a more efficiently manner to the different traffic classes (safety and non-safety traffic) imposed by V2X exigency, in order to improve the performances of the system in terms of average throughput, Quality of Service (QoS), Average Blocking Rate (ABR) and to ensure fairness criteria between Vehicular User Equipments (VUEs). The performance of PSA is shown for urban macro-cell and rural macro-cell scenarios and we compared it with the conventional OMA and some recent works for NOMA based allocation.