select * from mydb.goal g
JOIN mydb.matches m
ON g.goal_match = m.matchid
JOIN mydb.competitions c
ON m.competition = c.competitionid
WHERE c.competitionid = 219;

@Entity
public class Goal {

@Id
private long idgoal;
@ManyToOne(optional = false, fetch = FetchType.LAZY)
@JoinColumn(name = "goalMatch")
private Match goalMatch;

public long getIdgoal() {
    return idgoal;
}

public void setIdgoal(long idgoal) {
    this.idgoal = idgoal;
}

public Match getGoalMatch() {
    return goalMatch;
}

public void setGoalMatch(Match goalMatch) {
    this.goalMatch = goalMatch;
}

}

@Entity(name = "matches")
public class Match {

@Id
@GeneratedValue
private long idmatch;
@ManyToOne(optional = false, fetch = FetchType.LAZY)
@JoinColumn(name = "competition")
private Competition competition;

public long getIdmatch() {
    return idmatch;
}

public void setIdmatch(long idmatch) {
    this.idmatch = idmatch;
}

public Competition getCompetition() {
    return competition;
}

public void setCompetition(Competition competition) {
    this.competition = competition;
}

}

@Entity(name = "competitions")
public class Competition {

@Id
private Long idcompetitions;

public Long getIdcompetitions() {
    return idcompetitions;
}
public void setIdcompetitions(Long idcompetitions) {
    this.idcompetitions = idcompetitions;
}
}