diff --git a/django/db/models/sql/query.py b/django/db/models/sql/query.py
index 89fba2b56a..a590f2796e 100644
--- a/django/db/models/sql/query.py
+++ b/django/db/models/sql/query.py
@@ -1104,8 +1104,19 @@ class Query(object):
         if field.rel:
             # testing for iterable of models
             if hasattr(value, '__iter__'):
-                for v in value:
-                    self.check_query_object_type(v, opts)
+                # Check if the iterable has a model attribute, if so
+                # it is likely something like a QuerySet.
+                if hasattr(value, 'model') and hasattr(value.model, '_meta'):
+                    model = value.model
+                    if not (model == opts.concrete_model
+                            or opts.concrete_model in model._meta.get_parent_list()
+                            or model in opts.get_parent_list()):
+                        raise ValueError(
+                            'Cannot use QuerySet for "%s": Use a QuerySet for "%s".' %
+                            (model._meta.model_name, opts.object_name))
+                else:
+                    for v in value:
+                        self.check_query_object_type(v, opts)
             else:
                 # expecting single model instance here
                 self.check_query_object_type(value, opts)
diff --git a/tests/queries/tests.py b/tests/queries/tests.py
index 380d64b8f9..e7dd7fab74 100644
--- a/tests/queries/tests.py
+++ b/tests/queries/tests.py
@@ -3461,6 +3461,10 @@ class RelatedLookupTypeTests(TestCase):
         # parent objects
         self.assertQuerysetEqual(ObjectC.objects.exclude(childobjecta=self.oa), out_c)
 
+        # Test for #23226
+        with self.assertNumQueries(0):
+            ObjectB.objects.filter(objecta__in=ObjectA.objects.all())
+
 
 class Ticket14056Tests(TestCase):
     def test_ticket_14056(self):