diff --git a/jOOQ-manual/src/main/resources/org/jooq/web/grammar-3.12.txt b/jOOQ-manual/src/main/resources/org/jooq/web/grammar-3.12.txt
index 0886fcbd2f..3a46d77a84 100644
--- a/jOOQ-manual/src/main/resources/org/jooq/web/grammar-3.12.txt
+++ b/jOOQ-manual/src/main/resources/org/jooq/web/grammar-3.12.txt
@@ -476,8 +476,12 @@ tables = table { ',' table }
 table = lateral { unqualifiedJoin | innerJoin | outerJoin | semiAntiJoin }
 ;
 
+optionallyQualifiedJoin = 'CROSS JOIN'
+( table joinQualification | lateral )
+;
+
 unqualifiedJoin =
-( 'CROSS JOIN' | 'CROSS APPLY' | 'OUTER APPLY' | 'NATURAL' [ ( 'LEFT' | 'RIGHT' ) [ 'OUTER' ] ] 'JOIN' )
+( 'CROSS APPLY' | 'OUTER APPLY' | 'NATURAL' [ ( 'LEFT' | 'RIGHT' | 'FULL' ) [ 'OUTER' ] ] 'JOIN' )
 lateral
 ;
 
diff --git a/jOOQ/src/main/java/org/jooq/impl/ParserImpl.java b/jOOQ/src/main/java/org/jooq/impl/ParserImpl.java
index d807dd93a6..c2bb6dff25 100644
--- a/jOOQ/src/main/java/org/jooq/impl/ParserImpl.java
+++ b/jOOQ/src/main/java/org/jooq/impl/ParserImpl.java
@@ -4132,24 +4132,34 @@ final class ParserImpl implements Parser {
             case STRAIGHT_JOIN:
             case LEFT_SEMI_JOIN:
             case LEFT_ANTI_JOIN:
-                if (parseKeywordIf(ctx, "ON")) {
+                if (parseKeywordIf(ctx, "ON"))
                     return s2.on(parseCondition(ctx));
-                }
-                else if (parseKeywordIf(ctx, "USING")) {
-                    parse(ctx, '(');
-                    Table result = s2.using(Tools.fieldsByName(parseIdentifiers(ctx).toArray(EMPTY_NAME)));
-                    parse(ctx, ')');
-
-                    return result;
-                }
+                else if (parseKeywordIf(ctx, "USING"))
+                    return parseJoinUsing(ctx, s2);
                 else
                     throw ctx.expected("ON", "USING");
 
+            case CROSS_JOIN:
+                if (parseKeywordIf(ctx, "ON"))
+                    return left.join(right).on(parseCondition(ctx));
+                else if (parseKeywordIf(ctx, "USING"))
+                    return parseJoinUsing(ctx, left.join(right));
+
+                // No break
+
             default:
                 return s0;
         }
     }
 
+    private static final Table<?> parseJoinUsing(ParserContext ctx, TableOnStep<?> join) {
+        parse(ctx, '(');
+        Table result = join.using(Tools.fieldsByName(parseIdentifiers(ctx).toArray(EMPTY_NAME)));
+        parse(ctx, ')');
+
+        return result;
+    }
+
     private static final List<SelectFieldOrAsterisk> parseSelectList(ParserContext ctx) {
         List<SelectFieldOrAsterisk> result = new ArrayList<SelectFieldOrAsterisk>();