What you're describing is sometimes called the N+1 problem. The 1 is your first query against the master table, the N is the number of queries against your detail table.
This is almost always a big mistake for performance.*
The problem is typically associated with using an ORM. The ORM queries your database entities as though they are objects, the mistake is assume that instantiating data objects is no more costly than creating an object. But of course you can write code that does the same thing yourself, without using an ORM.
The hidden cost is that you now have code that automatically runs N queries, and N is determined by the number of matching rows in your master table. What happens when 10,000 rows match your master query? You won't get any warning before your database is expected to execute those queries at runtime.
And it may be unnecessary. What if the master query matches 10,000 rows, but you really only wanted the 27 rows for which there are detail rows (in other words an INNER JOIN
).
Some people are concerned with the number of queries because of network overhead. I'm not as concerned about that. You should not have a slow network between your app and your database. If you do, then you have a bigger problem than the N+1 problem.
I'm more concerned about the overhead of running thousands of queries per second when you don't have to. The overhead is in memory and all the code needed to parse and create an SQL statement in the server process.
Just Google for "sql n+1 problem" and you'll lots of people discussing how bad this is, and how to detect it in your code, and how to solve it (spoiler: do a JOIN).
* Of course every rule has exceptions, so to answer this for your application, you'll have to do load-testing with some representative sample of data and traffic.