diff --git a/mysql-test/main/kill_debug.result b/mysql-test/main/kill_debug.result
index 796156d6e45..e0695051194 100644
--- a/mysql-test/main/kill_debug.result
+++ b/mysql-test/main/kill_debug.result
@@ -265,3 +265,102 @@ ERROR 70100: Query execution was interrupted
 DROP TABLE t1;
 disconnect con1;
 SET debug_sync='RESET';
+#
+# MDEV-31567 SIGSEGV in reinit_stmt_before_use | Prepared_statement::execute
+#
+# The first EXECUTE is killed after the one-time semi-join rewrite, but
+# before the nested selects save their WHERE. The statement must be
+# re-prepared, not run half-rewritten. The bug was reported with
+# max_statement_time, KILL QUERY at a sync point makes it deterministic.
+CREATE TABLE t (a INT);
+connect  con1,localhost,root,,;
+PREPARE s FROM <62 nested IN subqueries>
+SET debug_sync='before_join_optimize SIGNAL parked WAIT_FOR go EXECUTE 1';
+EXECUTE s;
+connection default;
+SET debug_sync='now WAIT_FOR parked';
+KILL QUERY id;
+SET debug_sync='now SIGNAL go';
+connection con1;
+ERROR 70100: Query execution was interrupted
+SET debug_sync='RESET';
+EXECUTE s;
+a
+EXECUTE s;
+a
+DEALLOCATE PREPARE s;
+# The same with rows, the results must be correct
+INSERT INTO t VALUES (1),(2),(3);
+PREPARE s FROM <62 nested IN subqueries>
+SET debug_sync='before_join_optimize SIGNAL parked WAIT_FOR go EXECUTE 1';
+EXECUTE s;
+connection default;
+SET debug_sync='now WAIT_FOR parked';
+KILL QUERY id;
+SET debug_sync='now SIGNAL go';
+connection con1;
+ERROR 70100: Query execution was interrupted
+SET debug_sync='RESET';
+EXECUTE s;
+a
+1
+EXECUTE s;
+a
+1
+DEALLOCATE PREPARE s;
+# The same in a stored procedure
+CREATE PROCEDURE p() <62 nested IN subqueries>
+SET debug_sync='before_join_optimize SIGNAL parked WAIT_FOR go EXECUTE 1';
+CALL p();
+connection default;
+SET debug_sync='now WAIT_FOR parked';
+KILL QUERY id;
+SET debug_sync='now SIGNAL go';
+connection con1;
+ERROR 70100: Query execution was interrupted
+SET debug_sync='RESET';
+CALL p();
+a
+1
+CALL p();
+a
+1
+DROP PROCEDURE p;
+connection default;
+disconnect con1;
+# If the re-prepare fails, it must be tried again on the next EXECUTE
+CREATE USER u@localhost;
+GRANT SUPER ON *.* TO u@localhost;
+GRANT SELECT ON test.t TO u@localhost;
+connect  con2,localhost,u,,test;
+PREPARE s FROM <62 nested IN subqueries>
+SET debug_sync='before_join_optimize SIGNAL parked WAIT_FOR go EXECUTE 1';
+EXECUTE s;
+connection default;
+SET debug_sync='now WAIT_FOR parked';
+KILL QUERY id;
+SET debug_sync='now SIGNAL go';
+REVOKE SELECT ON test.t FROM u@localhost;
+connection con2;
+ERROR 70100: Query execution was interrupted
+SET debug_sync='RESET';
+EXECUTE s;
+ERROR 42000: SELECT command denied to user 'u'@'localhost' for table `test`.`t`
+SHOW STATUS LIKE 'Com_stmt_reprepare';
+Variable_name	Value
+Com_stmt_reprepare	1
+connection default;
+GRANT SELECT ON test.t TO u@localhost;
+connection con2;
+EXECUTE s;
+a
+1
+SHOW STATUS LIKE 'Com_stmt_reprepare';
+Variable_name	Value
+Com_stmt_reprepare	2
+connection default;
+disconnect con2;
+DROP USER u@localhost;
+DROP TABLE t;
+SET debug_sync='RESET';
+# End of 11.4 tests
diff --git a/mysql-test/main/kill_debug.test b/mysql-test/main/kill_debug.test
index c305d069255..5644fa2c30a 100644
--- a/mysql-test/main/kill_debug.test
+++ b/mysql-test/main/kill_debug.test
@@ -361,3 +361,120 @@ reap;
 DROP TABLE t1;
 disconnect con1;
 SET debug_sync='RESET';
+
+--echo #
+--echo # MDEV-31567 SIGSEGV in reinit_stmt_before_use | Prepared_statement::execute
+--echo #
+--echo # The first EXECUTE is killed after the one-time semi-join rewrite, but
+--echo # before the nested selects save their WHERE. The statement must be
+--echo # re-prepared, not run half-rewritten. The bug was reported with
+--echo # max_statement_time, KILL QUERY at a sync point makes it deterministic.
+CREATE TABLE t (a INT);
+let $q= 1;
+let $d= 62;
+while ($d)
+{
+  let $q= SELECT a FROM t WHERE a IN ($q);
+  dec $d;
+}
+connect (con1,localhost,root,,);
+let $id= `SELECT CONNECTION_ID()`;
+--echo PREPARE s FROM <62 nested IN subqueries>
+--disable_query_log
+eval PREPARE s FROM '$q';
+--enable_query_log
+SET debug_sync='before_join_optimize SIGNAL parked WAIT_FOR go EXECUTE 1';
+send EXECUTE s;
+connection default;
+SET debug_sync='now WAIT_FOR parked';
+replace_result $id id;
+eval KILL QUERY $id;
+SET debug_sync='now SIGNAL go';
+connection con1;
+--error ER_QUERY_INTERRUPTED
+reap;
+SET debug_sync='RESET';
+EXECUTE s;
+EXECUTE s;
+DEALLOCATE PREPARE s;
+
+--echo # The same with rows, the results must be correct
+INSERT INTO t VALUES (1),(2),(3);
+--echo PREPARE s FROM <62 nested IN subqueries>
+--disable_query_log
+eval PREPARE s FROM '$q';
+--enable_query_log
+SET debug_sync='before_join_optimize SIGNAL parked WAIT_FOR go EXECUTE 1';
+send EXECUTE s;
+connection default;
+SET debug_sync='now WAIT_FOR parked';
+replace_result $id id;
+eval KILL QUERY $id;
+SET debug_sync='now SIGNAL go';
+connection con1;
+--error ER_QUERY_INTERRUPTED
+reap;
+SET debug_sync='RESET';
+EXECUTE s;
+EXECUTE s;
+DEALLOCATE PREPARE s;
+
+--echo # The same in a stored procedure
+--echo CREATE PROCEDURE p() <62 nested IN subqueries>
+--disable_query_log
+eval CREATE PROCEDURE p() $q;
+--enable_query_log
+SET debug_sync='before_join_optimize SIGNAL parked WAIT_FOR go EXECUTE 1';
+send CALL p();
+connection default;
+SET debug_sync='now WAIT_FOR parked';
+replace_result $id id;
+eval KILL QUERY $id;
+SET debug_sync='now SIGNAL go';
+connection con1;
+--error ER_QUERY_INTERRUPTED
+reap;
+SET debug_sync='RESET';
+CALL p();
+CALL p();
+DROP PROCEDURE p;
+connection default;
+disconnect con1;
+
+--echo # If the re-prepare fails, it must be tried again on the next EXECUTE
+CREATE USER u@localhost;
+GRANT SUPER ON *.* TO u@localhost;
+GRANT SELECT ON test.t TO u@localhost;
+connect (con2,localhost,u,,test);
+let $id= `SELECT CONNECTION_ID()`;
+--echo PREPARE s FROM <62 nested IN subqueries>
+--disable_query_log
+eval PREPARE s FROM '$q';
+--enable_query_log
+SET debug_sync='before_join_optimize SIGNAL parked WAIT_FOR go EXECUTE 1';
+send EXECUTE s;
+connection default;
+SET debug_sync='now WAIT_FOR parked';
+replace_result $id id;
+eval KILL QUERY $id;
+SET debug_sync='now SIGNAL go';
+REVOKE SELECT ON test.t FROM u@localhost;
+connection con2;
+--error ER_QUERY_INTERRUPTED
+reap;
+SET debug_sync='RESET';
+--error ER_TABLEACCESS_DENIED_ERROR
+EXECUTE s;
+SHOW STATUS LIKE 'Com_stmt_reprepare';
+connection default;
+GRANT SELECT ON test.t TO u@localhost;
+connection con2;
+EXECUTE s;
+SHOW STATUS LIKE 'Com_stmt_reprepare';
+connection default;
+disconnect con2;
+DROP USER u@localhost;
+DROP TABLE t;
+SET debug_sync='RESET';
+
+--echo # End of 11.4 tests
diff --git a/sql/sp_instr.cc b/sql/sp_instr.cc
index 7733068eed3..5f9a14a4d94 100644
--- a/sql/sp_instr.cc
+++ b/sql/sp_instr.cc
@@ -478,7 +478,10 @@ int sp_lex_keeper::validate_lex_and_exec_core(THD *thd, uint *nextp,
 
   while (true)
   {
-    if (instr->is_invalid() || m_lex->needs_reprepare)
+    if (!instr->is_invalid() && m_lex->needs_reprepare)
+      instr->invalidate();
+
+    if (instr->is_invalid())
     {
       thd->clear_error();
       free_lex(thd);
diff --git a/sql/sql_lex.h b/sql/sql_lex.h
index 5069134e192..18feefbc41b 100644
--- a/sql/sql_lex.h
+++ b/sql/sql_lex.h
@@ -3313,9 +3313,9 @@ public:
   Explain_query *explain;
 
   /*
-    If true, query optimizer has encountered an unrecoverable error when doing
+    If true, query optimizer has encountered an error when doing
     once-per-statement optimization and it is not safe to re-execute this
-    statement.
+    statement without re-preparing it.
   */
   bool needs_reprepare{false};
 
diff --git a/sql/sql_prepare.cc b/sql/sql_prepare.cc
index d5ca525d181..95b8184c89e 100644
--- a/sql/sql_prepare.cc
+++ b/sql/sql_prepare.cc
@@ -4468,13 +4468,12 @@ Prepared_statement::execute_loop(String *expanded_query,
   */
   DBUG_ASSERT(thd->free_list == NULL);
 
-  if (lex->needs_reprepare)
+  if (lex->needs_reprepare && state != Query_arena::STMT_ERROR)
   {
     /*
       Something has happened on previous execution that requires us to
       re-prepare before we try to execute.
     */
-    lex->needs_reprepare= false;
     goto start_with_reprepare;
   }
 
@@ -4648,7 +4647,6 @@ Prepared_statement::execute_bulk_loop(String *expanded_query,
       Something has happened on previous execution that requires us to
       re-prepare before we try to execute.
     */
-    lex->needs_reprepare= false;
     error= reprepare();
     if (error)
       goto err;
diff --git a/sql/sql_select.cc b/sql/sql_select.cc
index 066c7b00ee5..51c0fd593dc 100644
--- a/sql/sql_select.cc
+++ b/sql/sql_select.cc
@@ -2029,7 +2029,13 @@ int JOIN::optimize()
     if (optimization_state != JOIN::NOT_OPTIMIZED)
       return FALSE;
     optimization_state= JOIN::OPTIMIZATION_IN_PROGRESS;
+    bool first_optimization= select_lex->first_cond_optimization;
     res= optimize_inner();
+    if (unlikely(res) && first_optimization)
+    {
+      /* A failed first optimization may leave the statement half-done */
+      thd->lex->needs_reprepare= true;
+    }
   }
   if (!with_two_phase_optimization)
   {