Few-shot relation classification is difficult because the few instances available may not represent well the relation patterns. Some existing approaches explored extra information such as relation definition, in addition to the instances, to learn a better relation representation. However, the encoding of the extra information has been performed independently from the labeled instances. In this paper, we propose to learn a prototype encoder from relation definition in a way that is useful for relation instance classification. To this end, we use a joint training approach to train both a prototype encoder from definition and an instance encoder. Extensive experiments on several datasets demonstrate the effectiveness and usefulness of our prototype encoder from definition text, enabling us to outperform state-of-the-art approaches.