SELECT parent.id AS ParentID,
IFNULL(child.parent_id,') AS ChildParentID,
IFNULL(child.id,') AS ChildID,
IFNULL(grandchild.child_id,') AS GrandchildChildID
FROM parent
LEFT JOIN child ON parent.id=child.parent_id
LEFT JOIN grandchild ON child.id=grandchild.child_id;