Hyperspectral imaging has many applications from agriculture and astronomy to surveillance and mineralogy. However, it is often challenging to obtain high-resolution (HR) hyperspectral images using existing hyperspectral imaging techniques due to various hardware limitations. In this paper, we propose a new hyperspectral image super-resolution method from a low-resolution (LR) image and a HR reference image of the same scene. The estimation of the HR hyperspectral image is formulated as a joint estimation of the hyperspectral dictionary and the sparse codes based on the prior knowledge of the spatial-spectral sparsity of the hyperspectral image. The hyperspectral dictionary representing prototype reflectance spectra vectors of the scene is first learned from the input LR image. Specifically, an efficient non-negative dictionary learning algorithm using the block-coordinate descent optimization technique is proposed. Then, the sparse codes of the desired HR hyperspectral image with respect to learned hyperspectral basis are estimated from the pair of LR and HR reference images. To improve the accuracy of non-negative sparse coding, a clustering-based structured sparse coding method is proposed to exploit the spatial correlation among the learned sparse codes. The experimental results on both public datasets and real LR hypspectral images suggest that the proposed method substantially outperforms several existing HR hyperspectral image recovery techniques in the literature in terms of both objective quality metrics and computational efficiency.