diff --git a/datafusion/core/src/physical_plan/joins/hash_join.rs b/datafusion/core/src/physical_plan/joins/hash_join.rs
index e75b4072e6ed..2c339996480c 100644
--- a/datafusion/core/src/physical_plan/joins/hash_join.rs
+++ b/datafusion/core/src/physical_plan/joins/hash_join.rs
@@ -1219,9 +1219,9 @@ impl HashJoinStream {
                             self.join_metrics.output_rows.add(batch.num_rows());
                             Some(result)
                         }
-                        Err(_) => Some(Err(DataFusionError::Execution(
-                            "Build left right indices error".to_string(),
-                        ))),
+                        Err(err) => Some(Err(DataFusionError::Execution(format!(
+                            "Fail to build join indices in HashJoinExec, error:{err}",
+                        )))),
                     };
                     timer.done();
                     result
diff --git a/datafusion/core/src/physical_plan/joins/nested_loop_join.rs b/datafusion/core/src/physical_plan/joins/nested_loop_join.rs
index 3d4e64aa5463..e3834573eb2f 100644
--- a/datafusion/core/src/physical_plan/joins/nested_loop_join.rs
+++ b/datafusion/core/src/physical_plan/joins/nested_loop_join.rs
@@ -475,9 +475,9 @@ fn join_left_and_right_batch(
     let mut left_indices_builder = UInt64Builder::new();
     let mut right_indices_builder = UInt32Builder::new();
     let left_right_indices = match indices_result {
-        Err(_) => Err(DataFusionError::Execution(
-            "Build left right indices error".to_string(),
-        )),
+        Err(err) => Err(DataFusionError::Execution(format!(
+            "Fail to build join indices in NestedLoopJoinExec, error:{err}"
+        ))),
         Ok(indices) => {
             for (left_side, right_side) in indices {
                 left_indices_builder
diff --git a/datafusion/core/src/physical_plan/joins/utils.rs b/datafusion/core/src/physical_plan/joins/utils.rs
index b01483f560bd..5803055efdb6 100644
--- a/datafusion/core/src/physical_plan/joins/utils.rs
+++ b/datafusion/core/src/physical_plan/joins/utils.rs
@@ -27,7 +27,7 @@ use arrow::array::{
 };
 use arrow::compute;
 use arrow::datatypes::{Field, Schema, UInt32Type, UInt64Type};
-use arrow::record_batch::RecordBatch;
+use arrow::record_batch::{RecordBatch, RecordBatchOptions};
 use datafusion_common::cast::as_boolean_array;
 use datafusion_common::ScalarValue;
 use datafusion_physical_expr::{EquivalentClass, PhysicalExpr};
@@ -789,6 +789,18 @@ pub(crate) fn build_batch_from_indices(
     right_indices: UInt32Array,
     column_indices: &[ColumnIndex],
 ) -> Result<RecordBatch> {
+    if schema.fields().is_empty() {
+        let options = RecordBatchOptions::new()
+            .with_match_field_names(true)
+            .with_row_count(Some(left_indices.len()));
+
+        return Ok(RecordBatch::try_new_with_options(
+            Arc::new(schema.clone()),
+            vec![],
+            &options,
+        )?);
+    }
+
     // build the columns of the new [RecordBatch]:
     // 1. pick whether the column is from the left or right
     // 2. based on the pick, `take` items from the different RecordBatches
diff --git a/datafusion/core/tests/sqllogictests/test_files/join.slt b/datafusion/core/tests/sqllogictests/test_files/join.slt
index e78925a7faab..8d5f573431bc 100644
--- a/datafusion/core/tests/sqllogictests/test_files/join.slt
+++ b/datafusion/core/tests/sqllogictests/test_files/join.slt
@@ -35,6 +35,12 @@ CREATE TABLE grades(grade INT, min INT, max INT) AS VALUES
 (4, 56, 79),
 (5, 80, 100);
 
+statement ok
+CREATE TABLE test1(a int, b int) as select 1 as a, 2 as b;
+
+statement ok
+CREATE TABLE test2(a int, b int) as select 1 as a, 2 as b;
+
 # Regression test: https://github.com/apache/arrow-datafusion/issues/4844
 query TII
 SELECT s.*, g.grade FROM students s join grades g on s.mark between g.min and g.max WHERE grade > 2 ORDER BY s.mark DESC
@@ -81,3 +87,9 @@ ON     (
 ----
 11 a 1
 44 d 4
+
+# issue: https://github.com/apache/arrow-datafusion/issues/5382
+query IIII rowsort
+SELECT * FROM test2 FULL JOIN test1 ON true;
+----
+1 2 1 2