With the advent of Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication, connected vehicle systems can be a promising tool to realize efficient and intelligent transportation. Essentially, connected vehicles can be viewed as a group of vehicles that can communicate with each other and the infrastructure. However, it also presents some challenges from safety and security point of view. Apart from the malfunction in the communication protocol, wireless communication networks can be subjected to cyber-attacks such as Denial of Service (DoS). Therefore, a vehicular control scheme which is resilient to such cyber-attacks is essential to improve the safety and security. In this paper, we develop a resilient control scheme for a platoon of connected vehicles equipped with Cooperative Adaptive Cruise Control (CACC) to mitigate the DoS attack. We modify the conventional CACC algorithm by adding an estimation algorithm consisting of a set of Luenberger's observer and a delay estimator. The efficacy of the proposes scheme is illustrated via simulation case studies.