In this paper, a selective multiple-input multiple-output(MIMO) transmission scheme is proposed in dual-hop MIMO relaying systems, in which orthogonal space-time block code(OSTBC) transmission and transmit antenna selection(TxAS) transmission are selectively used. Assuming independent Rayleigh fading channels, the outage probability is analyzed for a decode-and-forward(DF) relaying system using the selective MIMO transmission scheme. Also, through numerical investigation, the outage performance for the DF relaying system using the selective MIMO transmission scheme is compared with that for the conventional DF relaying system using OSTBC or TxAS. Moreover, from the performance comparison, it is shown that the proposed scheme can reduce the system overhead without outage performance degradation.