diff --git a/TOC.md b/TOC.md
index c772134267106..bc6c301a6fb24 100644
--- a/TOC.md
+++ b/TOC.md
@@ -272,6 +272,7 @@
         - [Subquery Related Optimizations](/subquery-optimization.md)
         - [Column Pruning](/column-pruning.md)
         - [Decorrelation of Correlated Subquery](/correlated-subquery-optimization.md)
+        - [LATERAL Derived Tables](/lateral-derived-tables.md)
         - [Eliminate Max/Min](/max-min-eliminate.md)
         - [Predicates Push Down](/predicate-push-down.md)
         - [Partition Pruning](/partition-pruning.md)
diff --git a/keywords.md b/keywords.md
index 5b080f17fb632..73a1feec7cd05 100644
--- a/keywords.md
+++ b/keywords.md
@@ -395,6 +395,7 @@ The following list shows the keywords in TiDB. Reserved keywords are marked with
 - LASTVAL
 - LEAD (R-Window)
 - LEADING (R)
+- LATERAL (R)
 - LEAVE (R)
 - LEFT (R)
 - LESS
diff --git a/lateral-derived-tables.md b/lateral-derived-tables.md
new file mode 100644
index 0000000000000..0f85c8f12b02f
--- /dev/null
+++ b/lateral-derived-tables.md
@@ -0,0 +1,66 @@
+---
+title: LATERAL Derived Tables
+summary: Learn the syntax and current limitations of LATERAL derived tables in TiDB.
+---
+
+# LATERAL Derived Tables
+
+A **lateral derived table** is a subquery in the `FROM` clause that can reference columns from tables that appear earlier in the same `FROM` clause. This makes it more powerful than a standard derived table, whose subquery cannot reference outer columns in the same `FROM` clause.
+
+TiDB recognizes the `LATERAL` syntax for derived tables, following the MySQL 8.0 syntax ([WL#8652](https://dev.mysql.com/worklog/task/?id=8652)).
+
+> **Note:**
+>
+> Currently, TiDB supports parsing the `LATERAL` derived table syntax, but its execution is not yet supported and will return an error. You can track the progress for full execution support in issue [#40328](https://github.com/pingcap/tidb/issues/40328).
+
+## Syntax
+
+```sql
+SELECT ... FROM table_ref, LATERAL (subquery) [AS] alias [(col_list)] ...
+SELECT ... FROM table_ref [LEFT] JOIN LATERAL (subquery) [AS] alias [(col_list)] ON ...
+```
+
+- The `LATERAL` keyword must precede the derived table subquery.
+- A table alias is required after the closing parenthesis of the subquery.
+- The `AS` keyword before the alias is optional.
+- An optional derived column list can follow the alias: `LATERAL (...) AS dt(col1, col2)`.
+
+## Examples
+
+### Comma join
+
+```sql
+SELECT * FROM t1, LATERAL (SELECT * FROM t2 WHERE t2.id = t1.id) AS dt;
+```
+
+In this example, the subquery references `t1.id`, a column from the preceding table `t1`. A regular derived table (without `LATERAL`) cannot do this.
+
+### LEFT JOIN with a derived column list
+
+```sql
+SELECT t1.id, dt.val
+FROM t1
+LEFT JOIN LATERAL (SELECT t2.val FROM t2 WHERE t2.id = t1.id LIMIT 1) AS dt(val)
+ON TRUE;
+```
+
+The derived column list `(val)` renames the columns that the subquery returns.
+
+## Comparison with standard derived tables
+
+| Feature | Standard derived table | LATERAL derived table |
+|---|---|---|
+| Can reference outer `FROM` columns | No | Yes |
+| Alias required | Yes | Yes |
+| Derived column list | Supported | Supported |
+
+## MySQL compatibility
+
+TiDB's LATERAL derived table syntax is compatible with MySQL 8.0 at the syntax level.
+
+## See also
+
+- [Subquery Related Optimizations](/subquery-optimization.md)
+- [Decorrelation of Correlated Subquery](/correlated-subquery-optimization.md)
+- [Explain Statements That Use Subqueries](/explain-subqueries.md)
+- [MySQL Compatibility](/mysql-compatibility.md)
diff --git a/mysql-compatibility.md b/mysql-compatibility.md
index deb85071aa1bb..536eaa226b241 100644
--- a/mysql-compatibility.md
+++ b/mysql-compatibility.md
@@ -68,7 +68,7 @@ You can try out TiDB features on [TiDB Playground](https://play.tidbcloud.com/?u
 + "Session Tracker: Add GTIDs context to the OK packet"
 + Descending Index [#2519](https://github.com/pingcap/tidb/issues/2519)
 + `SKIP LOCKED` syntax [#18207](https://github.com/pingcap/tidb/issues/18207)
-+ Lateral derived tables [#40328](https://github.com/pingcap/tidb/issues/40328)
++ Lateral derived tables (syntax is recognized but execution is not yet supported) [#40328](https://github.com/pingcap/tidb/issues/40328). For syntax details, see [LATERAL Derived Tables](/lateral-derived-tables.md).
 + JOIN ON subquery [#11414](https://github.com/pingcap/tidb/issues/11414)
 
 ## Differences from MySQL