Knowledge graph (KG) embedding aims at learning the latent semantic representations for entities and relations. However, most existing approaches can only be applied to KG completion, so cannot identify relations including unseen entities (or Out-of-KG entities). In this paper, motivated by the zero-shot learning, we propose a novel model, namely JointE, jointly learning KG and entity descriptions embedding, to extend KG by adding new relations with Out-of-KG entities. The JointE model is evaluated on entity prediction for zero-shot embedding. Empirical comparisons on benchmark datasets show that the proposed JointE model outperforms state-of-the-art approaches. The source code of JointE is available at https://github.com/yzur/JointE.