5G-V2X is today a new emerging technology for vehicular networks, where resource allocation mechanisms play a crucial role in its overall performance. For this reason, scarce and precious resources must be efficiently managed to meet the various QoS requirements of a wide range of V2X use cases. In this paper, we highlight the resource scheduling problem for two different V2X applications, namely the safety applications and the non safety applications. Therefore, we propose a new Priority and Satisfaction-based Resource Allocation algorithm with Mixed Numerology for 5G V2X communications (PSRA-MN). In PSRA-MN, we apply a priority policy in favour of the safety traffic, since the latter is the most time-constrained V2X traffic type. Then, the remaining resources after ensuring the demands of safety traffic are optimally scheduled for the non-safety traffic. The PSRA-MN algorithm is executed in a mixed numerology scenario, in which different 5G numerologies are multiplexed in the time domain. The PSRA-MN scheduling scheme is validated through simulations conducted using the Simu5G simulator. The simulation results show that the PSRA-MN algorithm achieves better performance in terms of average allocation rate, average satisfaction rate and average delay compared to the Max C/I algorithm.