Detecting out-of-domain (OOD) intents from user queries is essential for a task-oriented dialogue system. Previous OOD detection studies generally work on the assumption that plenty of labeled IND intents exist. In this paper, we focus on a more practical few-shot OOD setting where there are only a few labeled IND data and massive unlabeled mixed data that may belong to IND or OOD. The new scenario carries two key challenges: learning discriminative representations using limited IND data and leveraging unlabeled mixed data. Therefore, we propose an adaptive prototypical pseudo-labeling (APP) method for few-shot OOD detection, including a prototypical OOD detection framework (ProtoOOD) to facilitate low-resource OOD detection using limited IND data, and an adaptive pseudo-labeling method to produce high-quality pseudo OOD&IND labels. Extensive experiments and analysis demonstrate the effectiveness of our method for few-shot OOD detection.