diff --git a/jOOQ-manual/src/main/resources/org/jooq/web/grammar-3.11.txt b/jOOQ-manual/src/main/resources/org/jooq/web/grammar-3.11.txt
index 8756b74d2e..7c1a1f7fe8 100644
--- a/jOOQ-manual/src/main/resources/org/jooq/web/grammar-3.11.txt
+++ b/jOOQ-manual/src/main/resources/org/jooq/web/grammar-3.11.txt
@@ -440,12 +440,12 @@ sortField = field [ 'ASC' | 'DESC' ] [ 'NULLS FIRST' | 'NULLS LAST' ]
 tables = table { ',' table }
 ;
 
-table = tableFactor { unqualifiedJoin | innerJoin | outerJoin | semiAntiJoin }
+table = lateral { unqualifiedJoin | innerJoin | outerJoin | semiAntiJoin }
 ;
 
 unqualifiedJoin =
 ( 'CROSS JOIN' | 'CROSS APPLY' | 'OUTER APPLY' | 'NATURAL' [ ( 'LEFT' | 'RIGHT' ) [ 'OUTER' ] ] 'JOIN' )
-tableFactor
+lateral
 ;
 
 innerJoin =
@@ -463,13 +463,18 @@ outerJoin =
 semiAntiJoin = 'LEFT' ( 'SEMI' | 'ANTI' ) 'JOIN' table joinQualification
 ;
 
+lateral =
+  'LATERAL' tableFactor
+| tableFactor
+;
+
 tableFactor =
-  'LATERAL' '(' select ')' [ correlationName ]
-| tableFunction [ correlationName ]
-| '(' select ')' [ correlationName ]
-| values [ correlationName ]
-| tableName [ versions ] [ correlationName ] [ tableHints ]
+  tableName [ versions ] [ correlationName ] [ tableHints ]
 | '(' table ')' [ correlationName ]
+| '(' select ')' [ correlationName ]
+| tableFunction [ correlationName ]
+| 'UNNEST' '(' field ')'
+| values [ correlationName ]
 ;
 
 tableFunction =
diff --git a/jOOQ/src/main/java/org/jooq/impl/DSL.java b/jOOQ/src/main/java/org/jooq/impl/DSL.java
index 135d6c68f8..359f1003eb 100644
--- a/jOOQ/src/main/java/org/jooq/impl/DSL.java
+++ b/jOOQ/src/main/java/org/jooq/impl/DSL.java
@@ -8531,17 +8531,13 @@ public class DSL {
      */
     @Support({ H2, HSQLDB, POSTGRES })
     public static Table<?> unnest(Field<?> cursor) {
-        if (cursor == null) {
+        if (cursor == null)
             throw new IllegalArgumentException();
-        }
 
         // The field is an actual CURSOR or REF CURSOR returned from a stored
         // procedure or from a NESTED TABLE
-        else if (cursor.getType() == Result.class) {
+        else if (cursor.getType() == Result.class)
             return new org.jooq.impl.FunctionTable<Record>(cursor);
-        }
-
-
 
 
 
@@ -8554,9 +8550,8 @@ public class DSL {
 
 
         // The field is a regular array
-        else if (cursor.getType().isArray() && cursor.getType() != byte[].class) {
+        else if (cursor.getType().isArray() && cursor.getType() != byte[].class)
             return new ArrayTable(cursor);
-        }
 
         // The field has any other type. Try to make it an array
         throw new SQLDialectNotSupportedException("Converting arbitrary types into array tables is currently not supported");
diff --git a/jOOQ/src/main/java/org/jooq/impl/ParserImpl.java b/jOOQ/src/main/java/org/jooq/impl/ParserImpl.java
index 11ec79ffcf..9a89ab47de 100644
--- a/jOOQ/src/main/java/org/jooq/impl/ParserImpl.java
+++ b/jOOQ/src/main/java/org/jooq/impl/ParserImpl.java
@@ -221,6 +221,7 @@ import static org.jooq.impl.DSL.translate;
 import static org.jooq.impl.DSL.trim;
 import static org.jooq.impl.DSL.trunc;
 import static org.jooq.impl.DSL.unique;
+import static org.jooq.impl.DSL.unnest;
 import static org.jooq.impl.DSL.user;
 import static org.jooq.impl.DSL.values;
 import static org.jooq.impl.DSL.varPop;
@@ -3385,7 +3386,7 @@ final class ParserImpl implements Parser {
     }
 
     private static final Table<?> parseTable(ParserContext ctx) {
-        Table<?> result = parseTableFactor(ctx);
+        Table<?> result = parseLateral(ctx);
 
         for (;;) {
             Table<?> joined = parseJoinedTableIf(ctx, result);
@@ -3396,20 +3397,29 @@ final class ParserImpl implements Parser {
         }
     }
 
+    private static final Table<?> parseLateral(ParserContext ctx) {
+        if (parseKeywordIf(ctx, "LATERAL"))
+            return lateral(parseTableFactor(ctx));
+        else
+            return parseTableFactor(ctx);
+    }
+
     private static final Table<?> parseTableFactor(ParserContext ctx) {
         Table<?> result = null;
 
         // TODO [#5306] Support FINAL TABLE (<data change statement>)
         // TOOD ONLY ( table primary )
-        if (parseKeywordIf(ctx, "LATERAL")) {
+        if (parseFunctionNameIf(ctx, "UNNEST")) {
             parse(ctx, '(');
-            result = lateral(parseSelect(ctx));
+            Field<?> f = parseField(ctx, Type.A);
+
+            // Work around a missing feature in unnest()
+            if (!f.getType().isArray())
+                f = f.coerce(f.getDataType().getArrayDataType());
+
+            result = unnest(f);
             parse(ctx, ')');
         }
-        else if (parseFunctionNameIf(ctx, "UNNEST")) {
-            // TODO
-            throw ctx.notImplemented("UNNEST");
-        }
         else if (parseFunctionNameIf(ctx, "GENERATE_SERIES")) {
             parse(ctx, '(');
             Field from = toField(ctx, parseConcat(ctx, Type.N));
@@ -3693,7 +3703,7 @@ final class ParserImpl implements Parser {
     }
 
     private static final Table<?> parseJoinedTable(ParserContext ctx) {
-        Table<?> result = parseTableFactor(ctx);
+        Table<?> result = parseLateral(ctx);
 
         for (;;) {
             Table<?> joined = parseJoinedTableIf(ctx, result);
@@ -3711,7 +3721,7 @@ final class ParserImpl implements Parser {
         if (joinType == null)
             return null;
 
-        Table<?> right = joinType.qualified() ? parseTable(ctx) : parseTableFactor(ctx);
+        Table<?> right = joinType.qualified() ? parseTable(ctx) : parseLateral(ctx);
 
         TableOptionalOnStep<?> s0;
         TablePartitionByStep<?> s1;