Temporal networks are ubiquitous in nature and society, and tracking the dynamics of networks is fundamental for investigating the mechanisms of systems. Dynamic communities in temporal networks simultaneously reflect the topology of the current snapshot (clustering accuracy) and historical ones (clustering drift). Current algorithms are criticized for their inability to characterize the dynamics of networks at the vertex level, independence of feature extraction and clustering, and high time complexity. In this study, we solve these problems by proposing a novel joint learning model for dynamic community detection in temporal networks (also known as jLMDC) via joining feature extraction and clustering. This model is formulated as a constrained optimization problem. Vertices are classified into dynamic and static groups by exploring the topological structure of temporal networks to fully exploit their dynamics at each time step. Then, jLMDC updates the features of dynamic vertices by preserving features of static ones during optimization. The advantage of jLMDC is that features are extracted under the guidance of clustering, promoting performance, and saving the running time of the algorithm. Finally, we extend jLMDC to detect the overlapping dynamic community in temporal networks. The experimental results on 11 temporal networks demonstrate that jLMDC improves accuracy up to 8.23% and saves 24.89% of running time on average compared to state-of-the-art methods.