diff --git a/src/backend/optimizer/plan/setrefs.c b/src/backend/optimizer/plan/setrefs.c
index 595760b19f..0a3fe07049 100644
--- a/src/backend/optimizer/plan/setrefs.c
+++ b/src/backend/optimizer/plan/setrefs.c
@@ -15,7 +15,9 @@
  */
 #include "postgres.h"
 
+#include "access/table.h"
 #include "access/transam.h"
+#include "catalog/pg_class.h"
 #include "catalog/pg_type.h"
 #include "nodes/makefuncs.h"
 #include "nodes/nodeFuncs.h"
@@ -24,6 +26,8 @@
 #include "optimizer/planmain.h"
 #include "optimizer/planner.h"
 #include "optimizer/tlist.h"
+#include "parser/parsetree.h"
+#include "partitioning/partdesc.h"
 #include "tcop/utility.h"
 #include "utils/lsyscache.h"
 #include "utils/syscache.h"
@@ -108,6 +112,8 @@ static void add_rtes_to_flat_rtable(PlannerInfo *root, bool recursing);
 static void flatten_unplanned_rtes(PlannerGlobal *glob, RangeTblEntry *rte);
 static bool flatten_rtes_walker(Node *node, PlannerGlobal *glob);
 static void add_rte_to_flat_rtable(PlannerGlobal *glob, RangeTblEntry *rte);
+static void add_target_partition_oids_recurse(Oid relid, int lockmode,
+								  PlannerGlobal *glob);
 static Plan *set_plan_refs(PlannerInfo *root, Plan *plan, int rtoffset);
 static Plan *set_indexonlyscan_references(PlannerInfo *root,
 										  IndexOnlyScan *plan,
@@ -261,6 +267,21 @@ set_plan_references(PlannerInfo *root, Plan *plan)
 	 */
 	add_rtes_to_flat_rtable(root, false);
 
+	/*
+	 * If inserting into a partitioned table, add its partitions too to
+	 * glob->relationOids to register them as plan dependencies.
+	 */
+	if (root->parse->commandType == CMD_INSERT && glob->parallelModeNeeded)
+	{
+		RangeTblEntry *result_rte = rt_fetch(root->parse->resultRelation,
+											 root->parse->rtable);
+
+		if (result_rte->relkind == RELKIND_PARTITIONED_TABLE)
+			add_target_partition_oids_recurse(result_rte->relid,
+											  result_rte->rellockmode,
+											  glob);
+	}
+
 	/*
 	 * Adjust RT indexes of PlanRowMarks and add to final rowmarks list
 	 */
@@ -495,6 +516,39 @@ add_rte_to_flat_rtable(PlannerGlobal *glob, RangeTblEntry *rte)
 		glob->relationOids = lappend_oid(glob->relationOids, newrte->relid);
 }
 
+/*
+ * Recursively adds a table's partitions' OIDs to glob->relationOids.
+ */
+static void
+add_target_partition_oids_recurse(Oid relid, int lockmode,
+								  PlannerGlobal *glob)
+{
+	Relation		rel;
+	PartitionDesc   pdesc;
+	int		i;
+
+	if (glob->partition_directory == NULL)
+		glob->partition_directory =
+			CreatePartitionDirectory(CurrentMemoryContext);
+
+	rel = table_open(relid, lockmode);
+	pdesc =	PartitionDirectoryLookup(glob->partition_directory, rel);
+
+	for (i = 0; i < pdesc->nparts; i++)
+	{
+		glob->relationOids = lappend_oid(glob->relationOids, pdesc->oids[i]);
+
+		/*
+		 * If the partition may have its own partitions, recurse to add them
+		 * too.
+		 */
+		if (!pdesc->is_leaf[i])
+			add_target_partition_oids_recurse(pdesc->oids[i], lockmode, glob);
+	}
+
+	table_close(rel, NoLock);
+}
+
 /*
  * set_plan_refs: recurse through the Plan nodes of a single subquery level
  */
diff --git a/src/backend/optimizer/util/clauses.c b/src/backend/optimizer/util/clauses.c
index de16a28639..2d681a6940 100644
--- a/src/backend/optimizer/util/clauses.c
+++ b/src/backend/optimizer/util/clauses.c
@@ -1120,10 +1120,6 @@ target_rel_max_parallel_hazard_recurse(Relation rel,
 																	  context);
 			table_close(part_rel, AccessShareLock);
 
-			/* Register the partition as a plan dependency. */
-			glob->relationOids =
-					lappend_oid(glob->relationOids, pdesc->oids[i]);
-
 			if (max_hazard_found)
 			{
 				return true;