Head coach Eddie Jones was keen to get a look at his entire playing resources before naming his Six Nations squad later this month, but his plans were hit by injury.
Exeter wing Nowell had to leave the field with an ankle injury after 75 minutes of their 30-6 win over Leicester on Sunday, while Bath centre Joseph suffered a dead leg in the 31-26 loss to Wasps on Friday.
To add to the injury woes, Bath lock Charlie Ewels (hamstring), and Northampton fly-half Piers Francis and Exeter prop Harry Williams, both suffered concussions and also had to miss out.
"Following injuries sustained at the weekend, Charlie Ewels (hamstring), Piers Francis (concussion), Jonathan Joseph (dead leg), Jack Nowell (ankle) and Harry Williams (concussion) will not join up with England for their training camp today [Sunday]," Jones said in a statement.
"Henry Thomas (Bath) and Joe Cockanisinga (London Irish) have been called up into the squad for the two-day camp in Brighton."