As the name suggests, defining relative clauses give essential information to define or identify the person or thing we are talking about. Take for example the sentence: Dogs that like cats are very unusual. In this sentence we understand that there are many dogs in the world, but we are only talking about the ones that like cats. The defining relative clause gives us that information. If the defining relative clause were removed from the sentence, the sentence would still be gramatically correct, but its meaning would have changed significantly.
Defining relative clauses are composed of a relative pronoun (sometimes omitted), a verb, and optional other elements such as the subject or object of the verb. Commas are not used to separate defining relative clauses from the rest of the sentence. Commas or parentheses are used to separate non-defining relative clauses from the rest of the sentence.
Examples
1. Children who hate chocolate are uncommon.
2. They live in a house whose roof is full of holes.
3. An elephant is an animal that lives in hot countries.
4. Let's go to a country where the sun always shines.
5. The reason why I came here today is not important.
http://www.edufind.com/english-grammar/defining-relative-clauses/
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