Femto Access Points (FAP) and Device-to-Device (D2D) communications have recently been considered as potential candidates for 5G network densification and cell-edge performance. Mobility and handover management is a major issue in heterogeneous networks (HetNet) offering different access technologies. Recently, many Fuzzy and Multi-Attribute Decision Making (MADM) handover decision algorithms have been proposed to ensure Quality of Service (QoS), reduce the number of handovers and handover blocking probability of mobile users. However, network discovery is still an issue as it increases the total handover delay and drains the battery of the user equipment (UE). In addition, the UE may undergo high interference with other co-channel users after the handover is executed, thus limiting the overall network performance. Currently, the emerging Software Defined Networking (SDN) has been proposed in which one centralized controller can assist in the handover discovery, handover decision, and co-channel interference coordination. SDN-based handover algorithms ensure QoS, Quality of Experience (QoE), reduce delay and interference. In this paper, we will integrate the Fuzzy logic into the SDN to assist in FAPs and D2D discovery, and the decision of candidate networks based on the networks’ QoS parameters. Then, the UE will make the final handover decision by selecting the best network based on the predicted QoE using TOPSIS and AHP algorithms. Frequency reuse and appropriate power control are also applied in order to increase network capacity and reduce interference. Performance results show that the proposed SDN-based Fuzzy MADM handover scheme reduces unnecessary handovers, blocking probability and total handover delay. In addition, throughput is increased as the number of users increases.