可以使用多个联接和别名值：

import sqlite3
import numpy as np
import pandas as pd

# Data

df1 = pd.DataFrame({'ID': list('abcde'),'Value': [1,2,3,4,4] })
df2 = pd.DataFrame({'ID': ' a b e a1 a2'.split(),'Value': [10,20,30,40,40] })
df3 = pd.DataFrame({'ID': 'd f a b b2'.split(),'Value': [100,200,300,400,400] })

# Merge using pandas

df = df1.merge(df2,on='ID').merge(df3,on='ID')
print('using pd.merge')
print(df)

# Using SQL

con = sqlite3.connect("mydb.db")
df1.to_sql("df1", con, if_exists='replace',index=False)
df2.to_sql("df2", con, if_exists='replace',index=False)
df3.to_sql("df3", con, if_exists='replace',index=False)

# sql query

q = """
select df1.Value as Value_df1, df2.Value as Value_df2, df3.Value as Value_df3
from df1
join df2
on df1.ID = df2.ID
join df3
on df1.ID = df3.ID
"""
out = pd.read_sql_query(q,con)
print()
print('-'*50)
print('using sql')
print(out)
con.close()

输出

using pd.merge
  ID  Value_x  Value_y  Value
0  a        1       10    300
1  b        2       20    400

--------------------------------------------------
using sql
   Value_df1  Value_df2  Value_df3
0          1         10        300
1          2         20        400

我认为您可以在join中用新名称重命名其余的连接列：

SELECT table_A.ID_a, table_A.c_ID as c_ID_from_A, table_B.c_ID as c_ID_from_B
FROM table_A
JOIN table_B ON(table_A.ID_a = table_B.ID_a)

希望你觉得有用。