diff --git a/docs/sql-ref-syntax-dml-insert-overwrite-directory.md b/docs/sql-ref-syntax-dml-insert-overwrite-directory.md
index 60ac345121b05..3ef32bdb5e4ce 100644
--- a/docs/sql-ref-syntax-dml-insert-overwrite-directory.md
+++ b/docs/sql-ref-syntax-dml-insert-overwrite-directory.md
@@ -77,8 +77,8 @@ USING file_format [ OPTIONS ( key = val [ , ... ] ) ]
 * **query**
 
     A query that produces the rows to be inserted. It can be in one of following formats:
-    * a `SELECT` statement
-    * a `TABLE` statement
+    * a [SELECT](sql-ref-syntax-qry-select.html) statement
+    * a [Inline Table](sql-ref-syntax-qry-select-inline-table.html) statement
     * a `FROM` statement
 
 ### Examples
diff --git a/docs/sql-ref-syntax-dml-insert-table.md b/docs/sql-ref-syntax-dml-insert-table.md
index eb88c56e0bb92..504ced437047b 100644
--- a/docs/sql-ref-syntax-dml-insert-table.md
+++ b/docs/sql-ref-syntax-dml-insert-table.md
@@ -61,8 +61,8 @@ INSERT [ INTO | OVERWRITE ] [ TABLE ] table_identifier [ partition_spec ] [ ( co
 * **query**
 
     A query that produces the rows to be inserted. It can be in one of following formats:
-    * a `SELECT` statement
-    * a `TABLE` statement
+    * a [SELECT](sql-ref-syntax-qry-select.html) statement
+    * a [Inline Table](sql-ref-syntax-qry-select-inline-table.html) statement
     * a `FROM` statement
 
 ### Examples
diff --git a/sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBase.g4 b/sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBase.g4
index 8c492574a90a8..8aca8eda190ee 100644
--- a/sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBase.g4
+++ b/sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBase.g4
@@ -445,7 +445,7 @@ resource
     ;
 
 dmlStatementNoWith
-    : insertInto queryTerm queryOrganization                                       #singleInsertQuery
+    : insertInto query                                                             #singleInsertQuery
     | fromClause multiInsertQueryBody+                                             #multiInsertQuery
     | DELETE FROM multipartIdentifier tableAlias whereClause?                      #deleteFromTable
     | UPDATE multipartIdentifier tableAlias setClause whereClause?                 #updateTable
diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala
index b4232fb38a782..82c8891730ef5 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala
@@ -239,9 +239,7 @@ class AstBuilder extends SqlBaseBaseVisitor[AnyRef] with SQLConfHelper with Logg
    */
   override def visitSingleInsertQuery(
       ctx: SingleInsertQueryContext): LogicalPlan = withOrigin(ctx) {
-    withInsertInto(
-      ctx.insertInto(),
-      plan(ctx.queryTerm).optionalMap(ctx.queryOrganization)(withQueryResultClauses))
+    withInsertInto(ctx.insertInto(), visitQuery(ctx.query))
   }
 
   /**
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/sources/InsertSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/sources/InsertSuite.scala
index 73fdf2804b2c6..85d325ecd2e85 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/sources/InsertSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/sources/InsertSuite.scala
@@ -1055,6 +1055,14 @@ class InsertSuite extends DataSourceTest with SharedSparkSession {
       }
     }
   }
+
+  test("SPARK-36980: Insert support query with CTE") {
+    withTable("t") {
+      sql("CREATE TABLE t(i int, part1 int, part2 int) using parquet")
+      sql("INSERT INTO t WITH v1(c1) as (values (1)) select 1, 2, 3 from v1")
+      checkAnswer(spark.table("t"), Row(1, 2, 3))
+    }
+  }
 }
 
 class FileExistingTestFileSystem extends RawLocalFileSystem {