diff --git a/callbacks/query.go b/callbacks/query.go
index 9a6d4f4a..c87f17bc 100644
--- a/callbacks/query.go
+++ b/callbacks/query.go
@@ -8,6 +8,8 @@ import (
 
 	"gorm.io/gorm"
 	"gorm.io/gorm/clause"
+	"gorm.io/gorm/schema"
+	"gorm.io/gorm/utils"
 )
 
 func Query(db *gorm.DB) {
@@ -109,86 +111,136 @@ func BuildQuerySQL(db *gorm.DB) {
 				}
 			}
 
+			specifiedRelationsName := make(map[string]interface{})
 			for _, join := range db.Statement.Joins {
-				if db.Statement.Schema == nil {
-					fromClause.Joins = append(fromClause.Joins, clause.Join{
-						Expression: clause.NamedExpr{SQL: join.Name, Vars: join.Conds},
-					})
-				} else if relation, ok := db.Statement.Schema.Relationships.Relations[join.Name]; ok {
-					tableAliasName := relation.Name
-
-					columnStmt := gorm.Statement{
-						Table: tableAliasName, DB: db, Schema: relation.FieldSchema,
-						Selects: join.Selects, Omits: join.Omits,
-					}
-
-					selectColumns, restricted := columnStmt.SelectAndOmitColumns(false, false)
-					for _, s := range relation.FieldSchema.DBNames {
-						if v, ok := selectColumns[s]; (ok && v) || (!ok && !restricted) {
-							clauseSelect.Columns = append(clauseSelect.Columns, clause.Column{
-								Table: tableAliasName,
-								Name:  s,
-								Alias: tableAliasName + "__" + s,
-							})
-						}
-					}
-
-					exprs := make([]clause.Expression, len(relation.References))
-					for idx, ref := range relation.References {
-						if ref.OwnPrimaryKey {
-							exprs[idx] = clause.Eq{
-								Column: clause.Column{Table: clause.CurrentTable, Name: ref.PrimaryKey.DBName},
-								Value:  clause.Column{Table: tableAliasName, Name: ref.ForeignKey.DBName},
+				if db.Statement.Schema != nil {
+					var isRelations bool // is relations or raw sql
+					var relations []*schema.Relationship
+					relation, ok := db.Statement.Schema.Relationships.Relations[join.Name]
+					if ok {
+						isRelations = true
+						relations = append(relations, relation)
+					} else {
+						// handle nested join like "Manager.Company"
+						nestedJoinNames := strings.Split(join.Name, ".")
+						if len(nestedJoinNames) > 1 {
+							isNestedJoin := true
+							gussNestedRelations := make([]*schema.Relationship, 0, len(nestedJoinNames))
+							currentRelations := db.Statement.Schema.Relationships.Relations
+							for _, relname := range nestedJoinNames {
+								// incomplete match, only treated as raw sql
+								if relation, ok = currentRelations[relname]; ok {
+									gussNestedRelations = append(gussNestedRelations, relation)
+									currentRelations = relation.FieldSchema.Relationships.Relations
+								} else {
+									isNestedJoin = false
+									break
+								}
 							}
-						} else {
-							if ref.PrimaryValue == "" {
-								exprs[idx] = clause.Eq{
-									Column: clause.Column{Table: clause.CurrentTable, Name: ref.ForeignKey.DBName},
-									Value:  clause.Column{Table: tableAliasName, Name: ref.PrimaryKey.DBName},
-								}
-							} else {
-								exprs[idx] = clause.Eq{
-									Column: clause.Column{Table: tableAliasName, Name: ref.ForeignKey.DBName},
-									Value:  ref.PrimaryValue,
-								}
+
+							if isNestedJoin {
+								isRelations = true
+								relations = gussNestedRelations
 							}
 						}
 					}
 
-					{
-						onStmt := gorm.Statement{Table: tableAliasName, DB: db, Clauses: map[string]clause.Clause{}}
-						for _, c := range relation.FieldSchema.QueryClauses {
-							onStmt.AddClause(c)
-						}
+					if isRelations {
+						genJoinClause := func(joinType clause.JoinType, parentTableName string, relation *schema.Relationship) clause.Join {
+							tableAliasName := relation.Name
+							if parentTableName != clause.CurrentTable {
+								tableAliasName = utils.NestedRelationName(parentTableName, tableAliasName)
+							}
 
-						if join.On != nil {
-							onStmt.AddClause(join.On)
-						}
+							columnStmt := gorm.Statement{
+								Table: tableAliasName, DB: db, Schema: relation.FieldSchema,
+								Selects: join.Selects, Omits: join.Omits,
+							}
 
-						if cs, ok := onStmt.Clauses["WHERE"]; ok {
-							if where, ok := cs.Expression.(clause.Where); ok {
-								where.Build(&onStmt)
+							selectColumns, restricted := columnStmt.SelectAndOmitColumns(false, false)
+							for _, s := range relation.FieldSchema.DBNames {
+								if v, ok := selectColumns[s]; (ok && v) || (!ok && !restricted) {
+									clauseSelect.Columns = append(clauseSelect.Columns, clause.Column{
+										Table: tableAliasName,
+										Name:  s,
+										Alias: utils.NestedRelationName(tableAliasName, s),
+									})
+								}
+							}
 
-								if onSQL := onStmt.SQL.String(); onSQL != "" {
-									vars := onStmt.Vars
-									for idx, v := range vars {
-										bindvar := strings.Builder{}
-										onStmt.Vars = vars[0 : idx+1]
-										db.Dialector.BindVarTo(&bindvar, &onStmt, v)
-										onSQL = strings.Replace(onSQL, bindvar.String(), "?", 1)
+							exprs := make([]clause.Expression, len(relation.References))
+							for idx, ref := range relation.References {
+								if ref.OwnPrimaryKey {
+									exprs[idx] = clause.Eq{
+										Column: clause.Column{Table: parentTableName, Name: ref.PrimaryKey.DBName},
+										Value:  clause.Column{Table: tableAliasName, Name: ref.ForeignKey.DBName},
+									}
+								} else {
+									if ref.PrimaryValue == "" {
+										exprs[idx] = clause.Eq{
+											Column: clause.Column{Table: parentTableName, Name: ref.ForeignKey.DBName},
+											Value:  clause.Column{Table: tableAliasName, Name: ref.PrimaryKey.DBName},
+										}
+									} else {
+										exprs[idx] = clause.Eq{
+											Column: clause.Column{Table: tableAliasName, Name: ref.ForeignKey.DBName},
+											Value:  ref.PrimaryValue,
+										}
 									}
-
-									exprs = append(exprs, clause.Expr{SQL: onSQL, Vars: vars})
 								}
 							}
-						}
-					}
 
-					fromClause.Joins = append(fromClause.Joins, clause.Join{
-						Type:  join.JoinType,
-						Table: clause.Table{Name: relation.FieldSchema.Table, Alias: tableAliasName},
-						ON:    clause.Where{Exprs: exprs},
-					})
+							{
+								onStmt := gorm.Statement{Table: tableAliasName, DB: db, Clauses: map[string]clause.Clause{}}
+								for _, c := range relation.FieldSchema.QueryClauses {
+									onStmt.AddClause(c)
+								}
+
+								if join.On != nil {
+									onStmt.AddClause(join.On)
+								}
+
+								if cs, ok := onStmt.Clauses["WHERE"]; ok {
+									if where, ok := cs.Expression.(clause.Where); ok {
+										where.Build(&onStmt)
+
+										if onSQL := onStmt.SQL.String(); onSQL != "" {
+											vars := onStmt.Vars
+											for idx, v := range vars {
+												bindvar := strings.Builder{}
+												onStmt.Vars = vars[0 : idx+1]
+												db.Dialector.BindVarTo(&bindvar, &onStmt, v)
+												onSQL = strings.Replace(onSQL, bindvar.String(), "?", 1)
+											}
+
+											exprs = append(exprs, clause.Expr{SQL: onSQL, Vars: vars})
+										}
+									}
+								}
+							}
+
+							return clause.Join{
+								Type:  joinType,
+								Table: clause.Table{Name: relation.FieldSchema.Table, Alias: tableAliasName},
+								ON:    clause.Where{Exprs: exprs},
+							}
+						}
+
+						parentTableName := clause.CurrentTable
+						for _, rel := range relations {
+							// joins table alias like "Manager, Company, Manager__Company"
+							nestedAlias := utils.NestedRelationName(parentTableName, rel.Name)
+							if _, ok := specifiedRelationsName[nestedAlias]; !ok {
+								fromClause.Joins = append(fromClause.Joins, genJoinClause(join.JoinType, parentTableName, rel))
+								specifiedRelationsName[nestedAlias] = nil
+							}
+							parentTableName = rel.Name
+						}
+					} else {
+						fromClause.Joins = append(fromClause.Joins, clause.Join{
+							Expression: clause.NamedExpr{SQL: join.Name, Vars: join.Conds},
+						})
+					}
 				} else {
 					fromClause.Joins = append(fromClause.Joins, clause.Join{
 						Expression: clause.NamedExpr{SQL: join.Name, Vars: join.Conds},
diff --git a/scan.go b/scan.go
index 12a77862..736db4d3 100644
--- a/scan.go
+++ b/scan.go
@@ -4,10 +4,10 @@ import (
 	"database/sql"
 	"database/sql/driver"
 	"reflect"
-	"strings"
 	"time"
 
 	"gorm.io/gorm/schema"
+	"gorm.io/gorm/utils"
 )
 
 // prepareValues prepare values slice
@@ -50,7 +50,7 @@ func scanIntoMap(mapValue map[string]interface{}, values []interface{}, columns
 	}
 }
 
-func (db *DB) scanIntoStruct(rows Rows, reflectValue reflect.Value, values []interface{}, fields []*schema.Field, joinFields [][2]*schema.Field) {
+func (db *DB) scanIntoStruct(rows Rows, reflectValue reflect.Value, values []interface{}, fields []*schema.Field, joinFields [][]*schema.Field) {
 	for idx, field := range fields {
 		if field != nil {
 			values[idx] = field.NewValuePool.Get()
@@ -65,28 +65,45 @@ func (db *DB) scanIntoStruct(rows Rows, reflectValue reflect.Value, values []int
 
 	db.RowsAffected++
 	db.AddError(rows.Scan(values...))
-	joinedSchemaMap := make(map[*schema.Field]interface{})
+	joinedNestedSchemaMap := make(map[string]interface{})
 	for idx, field := range fields {
 		if field == nil {
 			continue
 		}
 
-		if len(joinFields) == 0 || joinFields[idx][0] == nil {
+		if len(joinFields) == 0 || len(joinFields[idx]) == 0 {
 			db.AddError(field.Set(db.Statement.Context, reflectValue, values[idx]))
-		} else {
-			joinSchema := joinFields[idx][0]
-			relValue := joinSchema.ReflectValueOf(db.Statement.Context, reflectValue)
-			if relValue.Kind() == reflect.Ptr {
-				if _, ok := joinedSchemaMap[joinSchema]; !ok {
-					if value := reflect.ValueOf(values[idx]).Elem(); value.Kind() == reflect.Ptr && value.IsNil() {
-						continue
-					}
+		} else { // joinFields count is larger than 2 when using join
+			var isNilPtrValue bool
+			var relValue reflect.Value
+			// does not contain raw dbname
+			nestedJoinSchemas := joinFields[idx][:len(joinFields[idx])-1]
+			// current reflect value
+			currentReflectValue := reflectValue
+			fullRels := make([]string, 0, len(nestedJoinSchemas))
+			for _, joinSchema := range nestedJoinSchemas {
+				fullRels = append(fullRels, joinSchema.Name)
+				relValue = joinSchema.ReflectValueOf(db.Statement.Context, currentReflectValue)
+				if relValue.Kind() == reflect.Ptr {
+					fullRelsName := utils.JoinNestedRelationNames(fullRels)
+					// same nested structure
+					if _, ok := joinedNestedSchemaMap[fullRelsName]; !ok {
+						if value := reflect.ValueOf(values[idx]).Elem(); value.Kind() == reflect.Ptr && value.IsNil() {
+							isNilPtrValue = true
+							break
+						}
 
-					relValue.Set(reflect.New(relValue.Type().Elem()))
-					joinedSchemaMap[joinSchema] = nil
+						relValue.Set(reflect.New(relValue.Type().Elem()))
+						joinedNestedSchemaMap[fullRelsName] = nil
+					}
 				}
+				currentReflectValue = relValue
+			}
+
+			if !isNilPtrValue { // ignore if value is nil
+				f := joinFields[idx][len(joinFields[idx])-1]
+				db.AddError(f.Set(db.Statement.Context, relValue, values[idx]))
 			}
-			db.AddError(joinFields[idx][1].Set(db.Statement.Context, relValue, values[idx]))
 		}
 
 		// release data to pool
@@ -163,7 +180,7 @@ func Scan(rows Rows, db *DB, mode ScanMode) {
 	default:
 		var (
 			fields       = make([]*schema.Field, len(columns))
-			joinFields   [][2]*schema.Field
+			joinFields   [][]*schema.Field
 			sch          = db.Statement.Schema
 			reflectValue = db.Statement.ReflectValue
 		)
@@ -217,15 +234,26 @@ func Scan(rows Rows, db *DB, mode ScanMode) {
 						} else {
 							matchedFieldCount[column] = 1
 						}
-					} else if names := strings.Split(column, "__"); len(names) > 1 {
+					} else if names := utils.SplitNestedRelationName(column); len(names) > 1 { // has nested relation
 						if rel, ok := sch.Relationships.Relations[names[0]]; ok {
-							if field := rel.FieldSchema.LookUpField(strings.Join(names[1:], "__")); field != nil && field.Readable {
+							subNameCount := len(names)
+							// nested relation fields
+							relFields := make([]*schema.Field, 0, subNameCount-1)
+							relFields = append(relFields, rel.Field)
+							for _, name := range names[1 : subNameCount-1] {
+								rel = rel.FieldSchema.Relationships.Relations[name]
+								relFields = append(relFields, rel.Field)
+							}
+							// lastest name is raw dbname
+							dbName := names[subNameCount-1]
+							if field := rel.FieldSchema.LookUpField(dbName); field != nil && field.Readable {
 								fields[idx] = field
 
 								if len(joinFields) == 0 {
-									joinFields = make([][2]*schema.Field, len(columns))
+									joinFields = make([][]*schema.Field, len(columns))
 								}
-								joinFields[idx] = [2]*schema.Field{rel.Field, field}
+								relFields = append(relFields, field)
+								joinFields[idx] = relFields
 								continue
 							}
 						}
diff --git a/tests/joins_test.go b/tests/joins_test.go
index 057ad333..e6715bbe 100644
--- a/tests/joins_test.go
+++ b/tests/joins_test.go
@@ -325,3 +325,66 @@ func TestJoinArgsWithDB(t *testing.T) {
 	}
 	AssertEqual(t, user4.NamedPet.Name, "")
 }
+
+func TestNestedJoins(t *testing.T) {
+	users := []User{
+		{
+			Name:     "nested-joins-1",
+			Manager:  GetUser("nested-joins-manager-1", Config{Company: true, NamedPet: true}),
+			NamedPet: &Pet{Name: "nested-joins-namepet-1", Toy: Toy{Name: "nested-joins-namepet-toy-1"}},
+		},
+		{
+			Name:     "nested-joins-2",
+			Manager:  GetUser("nested-joins-manager-2", Config{Company: true, NamedPet: true}),
+			NamedPet: &Pet{Name: "nested-joins-namepet-2", Toy: Toy{Name: "nested-joins-namepet-toy-2"}},
+		},
+	}
+
+	DB.Create(&users)
+
+	var userIDs []uint
+	for _, user := range users {
+		userIDs = append(userIDs, user.ID)
+	}
+
+	var users2 []User
+	if err := DB.
+		Joins("Manager").
+		Joins("Manager.Company").
+		Joins("Manager.NamedPet").
+		Joins("NamedPet").
+		Joins("NamedPet.Toy").
+		Find(&users2, "users.id IN ?", userIDs).Error; err != nil {
+		t.Fatalf("Failed to load with joins, got error: %v", err)
+	} else if len(users2) != len(users) {
+		t.Fatalf("Failed to load join users, got: %v, expect: %v", len(users2), len(users))
+	}
+
+	sort.Slice(users2, func(i, j int) bool {
+		return users2[i].ID > users2[j].ID
+	})
+
+	sort.Slice(users, func(i, j int) bool {
+		return users[i].ID > users[j].ID
+	})
+
+	for idx, user := range users {
+		// user
+		CheckUser(t, user, users2[idx])
+		if users2[idx].Manager == nil {
+			t.Fatalf("Failed to load Manager")
+		}
+		// manager
+		CheckUser(t, *user.Manager, *users2[idx].Manager)
+		// user pet
+		if users2[idx].NamedPet == nil {
+			t.Fatalf("Failed to load NamedPet")
+		}
+		CheckPet(t, *user.NamedPet, *users2[idx].NamedPet)
+		// manager pet
+		if users2[idx].Manager.NamedPet == nil {
+			t.Fatalf("Failed to load NamedPet")
+		}
+		CheckPet(t, *user.Manager.NamedPet, *users2[idx].Manager.NamedPet)
+	}
+}
diff --git a/utils/tests/utils.go b/utils/tests/utils.go
index 661d727f..49d01f2e 100644
--- a/utils/tests/utils.go
+++ b/utils/tests/utils.go
@@ -13,8 +13,14 @@ import (
 
 func AssertObjEqual(t *testing.T, r, e interface{}, names ...string) {
 	for _, name := range names {
-		got := reflect.Indirect(reflect.ValueOf(r)).FieldByName(name).Interface()
-		expect := reflect.Indirect(reflect.ValueOf(e)).FieldByName(name).Interface()
+		rv := reflect.Indirect(reflect.ValueOf(r))
+		ev := reflect.Indirect(reflect.ValueOf(e))
+		if rv.IsValid() != ev.IsValid() {
+			t.Errorf("%v: expect: %+v, got %+v", utils.FileWithLineNum(), r, e)
+			return
+		}
+		got := rv.FieldByName(name).Interface()
+		expect := ev.FieldByName(name).Interface()
 		t.Run(name, func(t *testing.T) {
 			AssertEqual(t, got, expect)
 		})
diff --git a/utils/utils.go b/utils/utils.go
index e08533cd..ddbca60a 100644
--- a/utils/utils.go
+++ b/utils/utils.go
@@ -131,3 +131,20 @@ func ToString(value interface{}) string {
 	}
 	return ""
 }
+
+const nestedRelationSplit = "__"
+
+// NestedRelationName nested relationships like `Manager__Company`
+func NestedRelationName(prefix, name string) string {
+	return prefix + nestedRelationSplit + name
+}
+
+// SplitNestedRelationName Split nested relationships to `[]string{"Manager","Company"}`
+func SplitNestedRelationName(name string) []string {
+	return strings.Split(name, nestedRelationSplit)
+}
+
+// JoinNestedRelationNames nested relationships like `Manager__Company`
+func JoinNestedRelationNames(relationNames []string) string {
+	return strings.Join(relationNames, nestedRelationSplit)
+}