Prompt tuning is a parameter-efficient method, which freezes all PLM parameters and only prepends some additional tunable tokens called soft prompts to the input text. However, soft prompts heavily rely on a better initialization and may easily result in overfitting under few-shot settings, which causes prompt-tuning performing much worse than fine-tuning. To address the above issues, this paper proposes a novel Self-sUpervised Meta-prompt learning framework with MEtagradient Regularization for few shot generalization (SUMMER). We leverage self-supervised meta-learning to better initialize soft prompts and curriculum-based task augmentation is further proposed to enrich the meta-task distribution. Besides, a novel meta-gradient regularization method is integrated into the meta-prompt learning framework, which meta-learns to transform the raw gradient during few-shot learning into a domain-generalizable direction, thus alleviating the problem of overfitting. Extensive experiments show that SUMMER achieves better performance for different few-shot downstream tasks, and also exhibits a stronger domain generalization ability.