diff --git a/src/backend/optimizer/path/joinrels.c b/src/backend/optimizer/path/joinrels.c
index e2c20ded90..7079b6ac3f 100644
--- a/src/backend/optimizer/path/joinrels.c
+++ b/src/backend/optimizer/path/joinrels.c
@@ -621,6 +621,10 @@ join_is_legal(PlannerInfo *root, RelOptInfo *rel1, RelOptInfo *rel2,
 				{
 					SpecialJoinInfo *sjinfo = (SpecialJoinInfo *) lfirst(l);
 
+					/* ignore full joins --- their ordering is predetermined */
+					if (sjinfo->jointype == JOIN_FULL)
+						continue;
+
 					if (bms_overlap(sjinfo->min_lefthand, join_plus_rhs) &&
 						!bms_is_subset(sjinfo->min_righthand, join_plus_rhs))
 					{
@@ -628,15 +632,6 @@ join_is_legal(PlannerInfo *root, RelOptInfo *rel1, RelOptInfo *rel2,
 														sjinfo->min_righthand);
 						more = true;
 					}
-					/* full joins constrain both sides symmetrically */
-					if (sjinfo->jointype == JOIN_FULL &&
-						bms_overlap(sjinfo->min_righthand, join_plus_rhs) &&
-						!bms_is_subset(sjinfo->min_lefthand, join_plus_rhs))
-					{
-						join_plus_rhs = bms_add_members(join_plus_rhs,
-														sjinfo->min_lefthand);
-						more = true;
-					}
 				}
 			} while (more);
 			if (bms_overlap(join_plus_rhs, join_lateral_rels))
diff --git a/src/test/regress/expected/rangefuncs.out b/src/test/regress/expected/rangefuncs.out
index 34ca0ef890..36a5929113 100644
--- a/src/test/regress/expected/rangefuncs.out
+++ b/src/test/regress/expected/rangefuncs.out
@@ -1391,6 +1391,31 @@ SELECT * FROM (VALUES (1),(2),(3)) v1(r1),
   3 |  3 | 30 | 8
 (45 rows)
 
+-- check handling of FULL JOIN with multiple lateral references (bug #15741)
+SELECT *
+FROM (VALUES (1),(2)) v1(r1)
+    LEFT JOIN LATERAL (
+        SELECT *
+        FROM generate_series(1, v1.r1) AS gs1
+        LEFT JOIN LATERAL (
+            SELECT *
+            FROM generate_series(1, gs1) AS gs2
+            LEFT JOIN generate_series(1, gs2) AS gs3 ON TRUE
+        ) AS ss1 ON TRUE
+        FULL JOIN generate_series(1, v1.r1) AS gs4 ON FALSE
+    ) AS ss0 ON TRUE;
+ r1 | gs1 | gs2 | gs3 | gs4 
+----+-----+-----+-----+-----
+  1 |     |     |     |   1
+  1 |   1 |   1 |   1 |    
+  2 |     |     |     |   1
+  2 |     |     |     |   2
+  2 |   1 |   1 |   1 |    
+  2 |   2 |   1 |   1 |    
+  2 |   2 |   2 |   1 |    
+  2 |   2 |   2 |   2 |    
+(8 rows)
+
 DROP FUNCTION rngfunc_sql(int,int);
 DROP FUNCTION rngfunc_mat(int,int);
 DROP SEQUENCE rngfunc_rescan_seq1;
diff --git a/src/test/regress/sql/rangefuncs.sql b/src/test/regress/sql/rangefuncs.sql
index fc8ad9a158..5d29d2e401 100644
--- a/src/test/regress/sql/rangefuncs.sql
+++ b/src/test/regress/sql/rangefuncs.sql
@@ -319,6 +319,21 @@ SELECT * FROM (VALUES (1),(2),(3)) v1(r1),
               LATERAL (SELECT r1, * FROM (VALUES (10),(20),(30)) v2(r2)
                                          LEFT JOIN generate_series(r1,2+r2/5) f(i) ON ((r2+i)<100) OFFSET 0) s1;
 
+-- check handling of FULL JOIN with multiple lateral references (bug #15741)
+
+SELECT *
+FROM (VALUES (1),(2)) v1(r1)
+    LEFT JOIN LATERAL (
+        SELECT *
+        FROM generate_series(1, v1.r1) AS gs1
+        LEFT JOIN LATERAL (
+            SELECT *
+            FROM generate_series(1, gs1) AS gs2
+            LEFT JOIN generate_series(1, gs2) AS gs3 ON TRUE
+        ) AS ss1 ON TRUE
+        FULL JOIN generate_series(1, v1.r1) AS gs4 ON FALSE
+    ) AS ss0 ON TRUE;
+
 DROP FUNCTION rngfunc_sql(int,int);
 DROP FUNCTION rngfunc_mat(int,int);
 DROP SEQUENCE rngfunc_rescan_seq1;