SELECT v.*
FROM document d
OUTER APPLY
(
SELECT TOP 1 *
FROM version v
WHERE v.document = d.id
ORDER BY
v.revision DESC
) v
or
SELECT v.*
FROM document d
LEFT JOIN
(
SELECT *, ROW_NUMBER() OVER (PARTITION BY v.id ORDER BY revision DESC)
FROM version
) v
ON v.document = d.id
AND v.rn = 1
The latter is more effective if your documents usually have several changes, and you need to select all or almost all of the documents; the first is more effective if the documents have many changes or you need to select only a small subset of the documents.
Update:
Sorry, did not notice the question about MySQL.
MySQL :
SELECT *
FROM document d
LEFT JOIN
version v
ON v.id =
(
SELECT id
FROM version vi
WHERE vi.document = d.document
ORDER BY
vi.document DESC, vi.revision DESC, vi.id DESC
LIMIT 1
)
version (document, revision, id), .