INFORMATION_SCHEMA.referential_constraints

select
   chl.table_name                 child_table,
   par.table_name                 parent_table,
-- chl.constraint_type                        ,  -- Always FOREIGN KEY?
   chl.constraint_name            foreign_key ,
   ref.unique_constraint_name     primary_key
-- ref.*,
-- chl.*
from
   information_schema.table_constraints       chl                                                     join
   information_schema.referential_constraints ref on chl.constraint_name = ref.constraint_name        join
   information_schema.table_constraints       par on par.constraint_name = ref.unique_constraint_name
where
-- chl.table_name = 'CHILD_TABLE'
   par.table_name = 'PARENT_TABLE'
;