When you have this nervous energy, have you ever taken the time to write down what your mind's running on about? It doesn't just have to be writing, you can draw, craft, play an instrument etc.. I suffer with the same problem and while it takes a good few hours to be able to fall asleep again, if I get my thoughts out; whether it be on here, in my journal, lyrics or a drawing; I can usually relax at the very least and maybe sleep for another hour (I have insomnia as is, so an hour is a godsend to me).
Before I jot down my thoughts, I sometimes do a few push ups, sit ups, take a walk or some kind of exercise. Just to get the nervous energy released from the rest of my body, as well. It doesn't have to be a vigorous thirty minute exercise; just ten minutes of doing the same thing usually gets it out along with a short walk to the end of my drive way.