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Cellular vehicle-to-everything (C-V2X) communications is regarded as a promising and feasible solution for 5G-en-abled vehicular communications and network-ing. In this paper, we investigate the pilot design and channel estimation problem in MIMO-OFDM-based C-V2X systems with se-vere co-channel interference due to spectrum reusing among different V2X communication links. By using zero-correlation zone (ZCZ) sequences, we provide an interference-free pilot design scheme and a corresponding time-domain (TD) correlation-based channel estimation (TD-CCE) method. We employ the ZCZ sequences from the same family set to be designed as the TD pilot symbols and guarantee the pilot sequeneces for neighboring V2X communication links are code-division multiplexing (CDM). The co-channel pilot interference of the deisgned pilot symbols can be effectively eliminated by exploiting the provided TD-CCE method. Simulation results indicate that the accuracy of channel estimation can be effectively improved by the proposed scheme, whose performance is close to that of the non-interference situation.