不，如果没有使用on delete cascade选项定义外键约束，则没有强制特殊级联删除的语法。
尽管@raymondnijland在注解中给出了建议，但在join中对两个表执行delete操作在mysql中是行不通的。
使用MySQL5.6的演示：

mysql> create table foo ( id serial primary key );
mysql> create table bar (foo_id bigint unsigned not null, 
  foreign key (foo_id) references foo(id));
mysql> insert into foo values (1);
mysql> insert into bar values (1);
mysql> delete foo.*, bar.* from foo join bar on foo.id=bar.foo_id where foo.id=1;

ERROR 1451 (23000): Cannot delete or update a parent row: a foreign key constraint
fails (`test`.`bar`, CONSTRAINT `bar_ibfk_1` FOREIGN KEY (`foo_id`) REFERENCES
`foo` (`id`))

您必须对每个子表执行单独的delete，然后对父表执行delete。