A recent success in semantic dependency parsing shows that graph neural networks can make significant accuracy improvements, owing to its powerful ability in learning expressive graph representations. However, this work learns graph representations based on a static graph constructed by an existing parser, suffering from two drawbacks: (1) the static graph might be error-prone (e.g., noisy or incomplete), and (2) graph construction stage and graph representation learning stage are disjoint, the errors introduced in the graph construction stage cannot be corrected and might be accumulated to later stages. To address these two drawbacks, we propose a dynamic graph learning framework and apply it to semantic dependency parsing, for jointly learning graph structure and graph representations. Experimental results show that our parser outperforms the previous parsers on the SemEval-2015 Task 18 dataset in three languages (English, Chinese, and Czech).