diff --git a/internal/mysqld/parser/antlrparser/ast_builder.go b/internal/mysqld/parser/antlrparser/ast_builder.go
index 53aabe2572..1ef2d393a1 100644
--- a/internal/mysqld/parser/antlrparser/ast_builder.go
+++ b/internal/mysqld/parser/antlrparser/ast_builder.go
@@ -4,6 +4,8 @@ import (
 	"fmt"
 	"strconv"
 
+	"github.com/milvus-io/milvus/internal/mysqld/sqlutil"
+
 	"github.com/milvus-io/milvus/internal/mysqld/planner"
 
 	"github.com/antlr/antlr4/runtime/Go/antlr/v4"
@@ -172,6 +174,17 @@ func (v *AstBuilder) VisitQuerySpecification(ctx *parsergen.QuerySpecificationCo
 		}
 	}
 
+	annsCtx := ctx.AnnsClause()
+	if annsCtx != nil {
+		r := annsCtx.Accept(v)
+		if err := GetError(r); err != nil {
+			return err
+		}
+		if n := GetANNSClause(r); n != nil {
+			opts = append(opts, planner.WithANNS(n))
+		}
+	}
+
 	limitCtx := ctx.LimitClause()
 	if limitCtx != nil {
 		r := limitCtx.Accept(v)
@@ -290,6 +303,167 @@ func (v *AstBuilder) VisitFromClause(ctx *parsergen.FromClauseContext) interface
 	return planner.NewNodeFromClause(text, tableSources, opts...)
 }
 
+func (v *AstBuilder) VisitAnnsClause(ctx *parsergen.AnnsClauseContext) interface{} {
+	text := GetOriginalText(ctx)
+
+	var column *planner.NodeFullColumnName
+	var vectors []*planner.NodeVector
+
+	columnCtx := ctx.FullColumnName()
+	if columnCtx != nil {
+		r := columnCtx.Accept(v)
+		if err := GetError(r); err != nil {
+			return err
+		}
+		column = planner.NewNodeFullColumnName(GetOriginalText(columnCtx), r.(string))
+	}
+
+	vectorsCtx := ctx.AnnsVectors()
+	if vectorsCtx != nil {
+		r := vectorsCtx.Accept(v)
+		if err := GetError(r); err != nil {
+			return err
+		}
+		vectors = r.([]*planner.NodeVector)
+	}
+
+	var opts []planner.NodeANNSClauseOption
+
+	var paramsCtx parsergen.IAnnsParamsClauseContext
+
+	// Don't use ctx.AnnsParamsClause() directly, especially when the nq is too large.
+	// In fact, ctx.AnnsParamsClause() will iterate all children from the beginning index, which
+	// is not very efficient.
+	children := ctx.GetChildren()
+	lenOfChildren := len(children)
+	for i := lenOfChildren - 1; i >= 0; i-- {
+		if childCtx, ok := children[i].(parsergen.IAnnsParamsClauseContext); ok {
+			paramsCtx = childCtx
+			break
+		}
+	}
+
+	if paramsCtx != nil {
+		r := paramsCtx.Accept(v)
+		if err := GetError(r); err != nil {
+			return err
+		}
+		if n := GetKVPairs(r); n != nil {
+			opts = append(opts, planner.NodeANNSClauseWithParams(n))
+		}
+	}
+
+	return planner.NewNodeANNSClause(text, column, vectors, opts...)
+}
+
+func (v *AstBuilder) VisitAnnsVectors(ctx *parsergen.AnnsVectorsContext) interface{} {
+	var vectors []*planner.NodeVector
+
+	allVectorsCtx := ctx.AllAnnsVector()
+
+	for _, vectorCtx := range allVectorsCtx {
+		r := vectorCtx.Accept(v)
+		if err := GetError(r); err != nil {
+			return err
+		}
+		if n := GetVector(r); n != nil {
+			vectors = append(vectors, n)
+		}
+	}
+
+	return vectors
+}
+
+func (v *AstBuilder) VisitAnnsVector(ctx *parsergen.AnnsVectorContext) interface{} {
+	if ctx.BIT_STRING() != nil {
+		return fmt.Errorf("binary vector is not supported")
+	}
+
+	var floatArray []float32
+
+	floatArrayCtx := ctx.FloatArray()
+	if floatArrayCtx != nil {
+		r := floatArrayCtx.Accept(v)
+		if err := GetError(r); err != nil {
+			return err
+		}
+		floatArray = r.([]float32)
+	}
+
+	return planner.NewNodeVector(planner.WithFloatVector(planner.NewNodeFloatVector(floatArray)))
+}
+
+func (v *AstBuilder) VisitFloatArray(ctx *parsergen.FloatArrayContext) interface{} {
+	var floatArray []float32
+
+	allDecimalCtx := ctx.AllDecimalLiteral()
+	for _, childCtx := range allDecimalCtx {
+		r := childCtx.Accept(v)
+		switch rWithType := r.(type) {
+		case int64:
+			floatArray = append(floatArray, float32(rWithType))
+		case float32:
+			floatArray = append(floatArray, rWithType)
+		case float64:
+			floatArray = append(floatArray, float32(rWithType))
+		case error:
+			return rWithType
+		default:
+			// TODO
+			return fmt.Errorf("failed to parse float vector: %s", GetOriginalText(childCtx))
+		}
+	}
+
+	return floatArray
+}
+
+func (v *AstBuilder) VisitAnnsParamsClause(ctx *parsergen.AnnsParamsClauseContext) interface{} {
+	return ctx.KvPairs().Accept(v)
+}
+
+func (v *AstBuilder) VisitKvPairs(ctx *parsergen.KvPairsContext) interface{} {
+	allKvPairs := ctx.AllKvPair()
+	lenOfPairs := len(allKvPairs)
+
+	if lenOfPairs == 0 {
+		return nil
+	}
+
+	pairs := planner.NewNodeKVPairs()
+
+	for _, child := range allKvPairs {
+		childCtx := child.(*parsergen.KvPairContext)
+		key := childCtx.ID().GetText()
+		value := childCtx.Value().Accept(v)
+		switch tv := value.(type) {
+		case string:
+			pairs.Insert(key, tv)
+		case int:
+			pairs.Insert(key, strconv.Itoa(tv))
+		case int32:
+			pairs.Insert(key, strconv.Itoa(int(tv)))
+		case int64:
+			pairs.Insert(key, strconv.Itoa(int(tv)))
+		case float32:
+			pairs.Insert(key, sqlutil.Float32ToString(tv))
+		case float64:
+			pairs.Insert(key, sqlutil.Float64ToString(tv))
+		default:
+			return fmt.Errorf("invalid type: %s", GetOriginalText(childCtx))
+		}
+	}
+
+	return pairs
+}
+
+func (v *AstBuilder) VisitValue(ctx *parsergen.ValueContext) interface{} {
+	if idCtx := ctx.ID(); idCtx != nil {
+		return idCtx.GetText()
+	}
+
+	return ctx.Constant().Accept(v)
+}
+
 func (v *AstBuilder) VisitTableSources(ctx *parsergen.TableSourcesContext) interface{} {
 	// Should not be visited.
 	return nil
diff --git a/internal/mysqld/parser/antlrparser/node_ret.go b/internal/mysqld/parser/antlrparser/node_ret.go
index d79650457a..8d5b9c37f4 100644
--- a/internal/mysqld/parser/antlrparser/node_ret.go
+++ b/internal/mysqld/parser/antlrparser/node_ret.go
@@ -77,6 +77,14 @@ func GetFromClause(obj interface{}) *planner.NodeFromClause {
 	return n
 }
 
+func GetANNSClause(obj interface{}) *planner.NodeANNSClause {
+	n, ok := obj.(*planner.NodeANNSClause)
+	if !ok {
+		return nil
+	}
+	return n
+}
+
 func GetLimitClause(obj interface{}) *planner.NodeLimitClause {
 	n, ok := obj.(*planner.NodeLimitClause)
 	if !ok {
@@ -140,3 +148,19 @@ func GetExpressions(obj interface{}) *planner.NodeExpressions {
 	}
 	return n
 }
+
+func GetKVPairs(obj interface{}) *planner.NodeKVPairs {
+	n, ok := obj.(*planner.NodeKVPairs)
+	if !ok {
+		return nil
+	}
+	return n
+}
+
+func GetVector(obj interface{}) *planner.NodeVector {
+	n, ok := obj.(*planner.NodeVector)
+	if !ok {
+		return nil
+	}
+	return n
+}
diff --git a/internal/mysqld/parser/antlrparser/parser_test.go b/internal/mysqld/parser/antlrparser/parser_test.go
index 67808eec96..1b02bbc1b5 100644
--- a/internal/mysqld/parser/antlrparser/parser_test.go
+++ b/internal/mysqld/parser/antlrparser/parser_test.go
@@ -4,9 +4,10 @@ import (
 	"fmt"
 	"testing"
 
-	"github.com/stretchr/testify/assert"
-
+	"github.com/milvus-io/milvus/internal/mysqld/parser"
 	"github.com/milvus-io/milvus/internal/mysqld/planner"
+	"github.com/stretchr/testify/assert"
+	"github.com/stretchr/testify/suite"
 )
 
 func Test_antlrParser_Parse(t *testing.T) {
@@ -48,3 +49,35 @@ func Test_antlrParser_Parse(t *testing.T) {
 		debug(t, sql)
 	}
 }
+
+type ANNSSuite struct {
+	suite.Suite
+
+	p parser.Parser
+}
+
+func (suite *ANNSSuite) SetupTest() {
+	suite.p = NewAntlrParser()
+}
+
+func (suite *ANNSSuite) TearDownTest() {}
+
+func TestANNSSuite(t *testing.T) {
+	suite.Run(t, new(ANNSSuite))
+}
+
+func (suite *ANNSSuite) TestFloatVector() {
+	sql := `
+select query_number, id, distance
+from t
+where id >= 1000 and id <= 10000
+anns by feature -> ([0.23, 0.21], [0.24, 0.26]) PARAMS = (nprobe=1, ef=5)
+limit 100
+`
+
+	plan, warns, err := suite.p.Parse(sql)
+	suite.NoError(err)
+	suite.Nil(warns)
+
+	planner.NewTreeUtils().PrettyPrintHrn(GetSqlStatements(plan.Node))
+}
diff --git a/internal/mysqld/planner/anns_clause.go b/internal/mysqld/planner/anns_clause.go
new file mode 100644
index 0000000000..b6273e6a3a
--- /dev/null
+++ b/internal/mysqld/planner/anns_clause.go
@@ -0,0 +1,55 @@
+package planner
+
+import (
+	"fmt"
+
+	"github.com/moznion/go-optional"
+)
+
+type NodeANNSClause struct {
+	baseNode
+	Column  *NodeFullColumnName
+	Vectors []*NodeVector
+	Params  optional.Option[*NodeKVPairs]
+}
+
+func (n *NodeANNSClause) String() string {
+	s := fmt.Sprintf("NodeANNSClause, Column: %s, Nq: %d", n.Column.String(), len(n.Vectors))
+	if n.Params.IsSome() {
+		s += fmt.Sprintf(", Params: %s", n.Params.Unwrap().String())
+	}
+	return s
+}
+
+func (n *NodeANNSClause) GetChildren() []Node {
+	// return []Node{n.Column}
+	return nil
+}
+
+func (n *NodeANNSClause) Accept(v Visitor) interface{} {
+	return v.VisitANNSClause(n)
+}
+
+type NodeANNSClauseOption func(*NodeANNSClause)
+
+func NodeANNSClauseWithParams(p *NodeKVPairs) NodeANNSClauseOption {
+	return func(n *NodeANNSClause) {
+		n.Params = optional.Some(p)
+	}
+}
+
+func (n *NodeANNSClause) apply(opts ...NodeANNSClauseOption) {
+	for _, opt := range opts {
+		opt(n)
+	}
+}
+
+func NewNodeANNSClause(text string, column *NodeFullColumnName, vectors []*NodeVector, opts ...NodeANNSClauseOption) *NodeANNSClause {
+	n := &NodeANNSClause{
+		baseNode: newBaseNode(text),
+		Column:   column,
+		Vectors:  vectors,
+	}
+	n.apply(opts...)
+	return n
+}
diff --git a/internal/mysqld/planner/binary_vector.go b/internal/mysqld/planner/binary_vector.go
new file mode 100644
index 0000000000..5f57e9c0a2
--- /dev/null
+++ b/internal/mysqld/planner/binary_vector.go
@@ -0,0 +1,6 @@
+package planner
+
+type NodeBinaryVector struct {
+	baseNode
+	//TODO
+}
diff --git a/internal/mysqld/planner/float_vector.go b/internal/mysqld/planner/float_vector.go
new file mode 100644
index 0000000000..a9c7a81e24
--- /dev/null
+++ b/internal/mysqld/planner/float_vector.go
@@ -0,0 +1,11 @@
+package planner
+
+type NodeFloatVector struct {
+	Array []float32
+}
+
+func NewNodeFloatVector(arr []float32) *NodeFloatVector {
+	return &NodeFloatVector{
+		Array: arr,
+	}
+}
diff --git a/internal/mysqld/planner/kv_pair.go b/internal/mysqld/planner/kv_pair.go
new file mode 100644
index 0000000000..abd52a151e
--- /dev/null
+++ b/internal/mysqld/planner/kv_pair.go
@@ -0,0 +1,23 @@
+package planner
+
+import "encoding/json"
+
+type NodeKVPairs struct {
+	KVs map[string]string
+}
+
+func (n *NodeKVPairs) Insert(key, value string) {
+	n.KVs[key] = value
+}
+
+func (n *NodeKVPairs) String() string {
+	// How could `Marshal` return error here?
+	bs, _ := json.Marshal(n.KVs)
+	return string(bs)
+}
+
+func NewNodeKVPairs() *NodeKVPairs {
+	return &NodeKVPairs{
+		KVs: make(map[string]string),
+	}
+}
diff --git a/internal/mysqld/planner/query_specification.go b/internal/mysqld/planner/query_specification.go
index 52050b2dee..60543bfc7a 100644
--- a/internal/mysqld/planner/query_specification.go
+++ b/internal/mysqld/planner/query_specification.go
@@ -7,6 +7,7 @@ type NodeQuerySpecification struct {
 	SelectSpecs    []*NodeSelectSpec
 	SelectElements []*NodeSelectElement
 	From           optional.Option[*NodeFromClause]
+	Anns           optional.Option[*NodeANNSClause]
 	Limit          optional.Option[*NodeLimitClause]
 }
 
@@ -16,18 +17,27 @@ func (n *NodeQuerySpecification) String() string {
 
 func (n *NodeQuerySpecification) GetChildren() []Node {
 	children := make([]Node, 0, len(n.SelectSpecs)+len(n.SelectElements)+2)
+
 	for _, child := range n.SelectSpecs {
 		children = append(children, child)
 	}
+
 	for _, child := range n.SelectElements {
 		children = append(children, child)
 	}
+
 	if n.From.IsSome() {
 		children = append(children, n.From.Unwrap())
 	}
+
+	if n.Anns.IsSome() {
+		children = append(children, n.Anns.Unwrap())
+	}
+
 	if n.Limit.IsSome() {
 		children = append(children, n.Limit.Unwrap())
 	}
+
 	return children
 }
 
@@ -49,6 +59,12 @@ func WithFrom(from *NodeFromClause) NodeQuerySpecificationOption {
 	}
 }
 
+func WithANNS(anns *NodeANNSClause) NodeQuerySpecificationOption {
+	return func(n *NodeQuerySpecification) {
+		n.Anns = optional.Some(anns)
+	}
+}
+
 func WithLimit(Limit *NodeLimitClause) NodeQuerySpecificationOption {
 	return func(n *NodeQuerySpecification) {
 		n.Limit = optional.Some(Limit)
diff --git a/internal/mysqld/planner/vector.go b/internal/mysqld/planner/vector.go
new file mode 100644
index 0000000000..5fcf3c7cd7
--- /dev/null
+++ b/internal/mysqld/planner/vector.go
@@ -0,0 +1,27 @@
+package planner
+
+import "github.com/moznion/go-optional"
+
+type NodeVector struct {
+	FloatVector optional.Option[*NodeFloatVector]
+}
+
+type NodeVectorOption func(*NodeVector)
+
+func (n *NodeVector) apply(opts ...NodeVectorOption) {
+	for _, opt := range opts {
+		opt(n)
+	}
+}
+
+func WithFloatVector(v *NodeFloatVector) NodeVectorOption {
+	return func(n *NodeVector) {
+		n.FloatVector = optional.Some(v)
+	}
+}
+
+func NewNodeVector(opts ...NodeVectorOption) *NodeVector {
+	n := &NodeVector{}
+	n.apply(opts...)
+	return n
+}
diff --git a/internal/mysqld/planner/visitor.go b/internal/mysqld/planner/visitor.go
index 4c1864dfc1..cd3ccb7439 100644
--- a/internal/mysqld/planner/visitor.go
+++ b/internal/mysqld/planner/visitor.go
@@ -31,4 +31,14 @@ type Visitor interface {
 	VisitUnaryExpressionAtom(n *NodeUnaryExpressionAtom) interface{}
 	VisitNestedExpressionAtom(n *NodeNestedExpressionAtom) interface{}
 	VisitConstant(n *NodeConstant) interface{}
+
+	/*
+		// In fact, these structs are not enough to be a node.
+		// They themselves alone don't make any sense. Just regard them as parameters.
+		VisitFloatVector(n *NodeFloatVector) interface{}
+		VisitVector(n *NodeVector) interface{}
+		VisitKVPairs(n *NodeKVPairs) interface{}
+	*/
+
+	VisitANNSClause(*NodeANNSClause) interface{}
 }
diff --git a/internal/mysqld/planner/visitor_expression_text_restorer.go b/internal/mysqld/planner/visitor_expression_text_restorer.go
index 7eeb42f845..1e4eee3582 100644
--- a/internal/mysqld/planner/visitor_expression_text_restorer.go
+++ b/internal/mysqld/planner/visitor_expression_text_restorer.go
@@ -3,6 +3,8 @@ package planner
 import (
 	"fmt"
 	"strconv"
+
+	"github.com/milvus-io/milvus/internal/mysqld/sqlutil"
 )
 
 // TODO: remove this after execution engine is ready.
@@ -120,7 +122,7 @@ func (v *exprTextRestorer) VisitConstant(n *NodeConstant) interface{} {
 		return strconv.FormatBool(n.BooleanLiteral.Unwrap())
 	}
 	if n.RealLiteral.IsSome() {
-		return strconv.FormatFloat(n.RealLiteral.Unwrap(), 'g', 10, 14)
+		return sqlutil.Float64ToString(n.RealLiteral.Unwrap())
 	}
 	return ""
 }
diff --git a/internal/mysqld/planner/visitor_json.go b/internal/mysqld/planner/visitor_json.go
index f45f1813f1..1eb7ae3427 100644
--- a/internal/mysqld/planner/visitor_json.go
+++ b/internal/mysqld/planner/visitor_json.go
@@ -1,6 +1,10 @@
 package planner
 
-import "strconv"
+import (
+	"strconv"
+
+	"github.com/milvus-io/milvus/internal/mysqld/sqlutil"
+)
 
 type jsonVisitor struct {
 }
@@ -362,12 +366,22 @@ func (v jsonVisitor) VisitConstant(n *NodeConstant) interface{} {
 	}
 
 	if n.RealLiteral.IsSome() {
-		j["real_literal"] = strconv.FormatFloat(n.RealLiteral.Unwrap(), 'f', -1, 64)
+		j["real_literal"] = sqlutil.Float64ToString(n.RealLiteral.Unwrap())
 	}
 
 	return j
 }
 
+func (v jsonVisitor) VisitANNSClause(n *NodeANNSClause) interface{} {
+	// leaf node.
+
+	j := map[string]interface{}{}
+
+	j["anns"] = n.String()
+
+	return j
+}
+
 func NewJSONVisitor() Visitor {
 	return &jsonVisitor{}
 }
diff --git a/internal/mysqld/sqlutil/conv.go b/internal/mysqld/sqlutil/conv.go
new file mode 100644
index 0000000000..9a3b7b0674
--- /dev/null
+++ b/internal/mysqld/sqlutil/conv.go
@@ -0,0 +1,11 @@
+package sqlutil
+
+import "strconv"
+
+func Float32ToString(f float32) string {
+	return strconv.FormatFloat(float64(f), 'f', -1, 32)
+}
+
+func Float64ToString(f float64) string {
+	return strconv.FormatFloat(f, 'f', -1, 64)
+}