diff --git a/pkg/planner/core/expression_rewriter.go b/pkg/planner/core/expression_rewriter.go
index 0d5caa6632fe4..83407cc254b66 100644
--- a/pkg/planner/core/expression_rewriter.go
+++ b/pkg/planner/core/expression_rewriter.go
@@ -1244,6 +1244,11 @@ func (er *expressionRewriter) handleInSubquery(ctx context.Context, planCtx *exp
 		copy(join.OutputNames(), planCtx.plan.OutputNames())
 		copy(join.OutputNames()[planCtx.plan.Schema().Len():], agg.OutputNames())
 		join.AttachOnConds(expression.SplitCNFItems(checkCondition))
+		// set FullSchema and FullNames for this join
+		if left, ok := planCtx.plan.(*logicalop.LogicalJoin); ok && left.FullSchema != nil {
+			join.FullSchema = left.FullSchema
+			join.FullNames = left.FullNames
+		}
 		// Set join hint for this join.
 		if planCtx.builder.TableHints() != nil {
 			join.SetPreferredJoinTypeAndOrder(planCtx.builder.TableHints())
diff --git a/tests/integrationtest/r/planner/core/issuetest/planner_issue.result b/tests/integrationtest/r/planner/core/issuetest/planner_issue.result
index a56fab9dd5d75..26f086d1d7e4b 100644
--- a/tests/integrationtest/r/planner/core/issuetest/planner_issue.result
+++ b/tests/integrationtest/r/planner/core/issuetest/planner_issue.result
@@ -718,3 +718,8 @@ Projection_11	6.00	root		1->Column#18
   └─Projection_17(Probe)	10000.00	root		cast(test.t61a85298.col_71, double BINARY)->Column#19
     └─TableReader_19	10000.00	root		data:TableFullScan_18
       └─TableFullScan_18	10000.00	cop[tikv]	table:t61a85298	keep order:false, stats:pseudo
+drop table if exists t0, t1;
+CREATE TABLE t0(c0 int);
+CREATE TABLE t1(c0 int);
+SELECT t0.c0, t1.c0 FROM t0 NATURAL JOIN t1 WHERE '1' AND (t0.c0 IN (SELECT c0 FROM t0));
+c0	c0
diff --git a/tests/integrationtest/t/planner/core/issuetest/planner_issue.test b/tests/integrationtest/t/planner/core/issuetest/planner_issue.test
index cf0bffe8e90f5..00cfa31d3c392 100644
--- a/tests/integrationtest/t/planner/core/issuetest/planner_issue.test
+++ b/tests/integrationtest/t/planner/core/issuetest/planner_issue.test
@@ -492,3 +492,9 @@ FROM (
 ) AS derived_table
 WHERE 16739493649928310215 MEMBER OF (derived_table.col_60767)
    OR NOT (JSON_CONTAINS(derived_table.col_60767, '6019730272580550835'));
+
+# TestIssue53766
+drop table if exists t0, t1;
+CREATE TABLE t0(c0 int);
+CREATE TABLE t1(c0 int);
+SELECT t0.c0, t1.c0 FROM t0 NATURAL JOIN t1 WHERE '1' AND (t0.c0 IN (SELECT c0 FROM t0));