DELETE FROM 三个表一起删

 $sql = "delete i,g,a from " .$ecs->table('order_info'). " as i join " .$ecs->table('order_goods'). " as g on i.order_id = g.order_id join " .$ecs->table('order_action'). " as a on i.order_id = a.order_id where i.order_id = '$order_id'";