Clustering cells into subgroups plays a critical role in single cell-based analyses, which facilitates to reveal cell heterogeneity and diversity. Due to the ever-increasing scRNA-seq data and low RNA capture rate, it has become challenging to cluster high-dimensional and sparse scRNA-seq data. In this study, we propose a single-cell Multi-Constraint deep soft K-means Clustering(scMCKC) framework. Based on zero-inflated negative binomial (ZINB) model-based autoencoder, scMCKC constructs a novel cell-level compactness constraint by considering association between similar cell, to emphasize the compactness between clusters. Besides, scMCKC utilizes pairwise constraint encoded by prior information to guide clustering. Meanwhile, a weighted soft K-means algorithm is leveraged to determine the cell populations, which assigns the label based on affinity between data and clustering center. Experiments on eleven scRNA-seq datasets demonstrate that scMCKC is superior to the state-of-the-art methods and notably improves cluster performance. Moreover, we validate the robustness on human kidney dataset, which demonstrates that scMCKC exhibits comprehensively excellent performance on clustering analysis. The ablation study on eleven datasets proves that the novel cell-level compactness constraint is conductive to the clustering results.