The development of single cell RNA sequencing (scRNA-seq) has provided new perspectives to study biological problems at the single cell level. One of the key issues in scRNA-seq data analysis is to divide cells into several clusters for discovering the heterogeneity and diversity of cells. However, the existing scRNA-seq data are high-dimensional, sparse, and noisy, which challenges the existing single-cell clustering methods. In this study, we propose a joint learning framework (JLONMFSC) for clustering scRNA-seq data. In our method, the dimension of the original data is reduced to minimize the effect of noise. In addition, the graph regularized matrix factorization is used to learn the local features. Further, the Low-Rank Representation (LRR) subspace clustering is utilized to learn the global features. Finally, the joint learning of local features and global features is performed to obtain the results of clustering. We compare the proposed algorithm with eight state-of-the-art algorithms for clustering performance on six datasets, and the experimental results demonstrate that the JLONMFSC achieves better performance in all datasets. The code is avalable at https://github.com/lanbiolab/JLONMFSC.