Chamberlain was born in Camberwell in London. His father had a successful shoe company. Joseph was a good student, and won prizes at school in French and mathematics. He left school when he was 16 years old, and became an apprentice in his father's company. When he was 18, he moved to Birmingham to work in his uncle's screw company. He worked for the company until he was 38, and the company became very successful.