diff --git a/sql/core/src/main/scala/org/apache/spark/sql/execution/analysis/DetectAmbiguousSelfJoin.scala b/sql/core/src/main/scala/org/apache/spark/sql/execution/analysis/DetectAmbiguousSelfJoin.scala
index ef657ba35455f..b26a0785b7f4f 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/execution/analysis/DetectAmbiguousSelfJoin.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/execution/analysis/DetectAmbiguousSelfJoin.scala
@@ -20,7 +20,7 @@ package org.apache.spark.sql.execution.analysis
 import scala.collection.mutable
 
 import org.apache.spark.sql.{AnalysisException, Column, Dataset}
-import org.apache.spark.sql.catalyst.expressions.{AttributeReference, Cast, Equality, Expression, ExprId}
+import org.apache.spark.sql.catalyst.expressions.{AttributeReference, AttributeSet, Cast, Equality, Expression, ExprId}
 import org.apache.spark.sql.catalyst.plans.logical.{Join, LogicalPlan}
 import org.apache.spark.sql.catalyst.rules.Rule
 import org.apache.spark.sql.internal.SQLConf
@@ -86,6 +86,7 @@ object DetectAmbiguousSelfJoin extends Rule[LogicalPlan] {
       val colRefs = colRefAttrs.map(toColumnReference).distinct
       val ambiguousColRefs = mutable.HashSet.empty[ColumnReference]
       val dsIdSet = colRefs.map(_.datasetId).toSet
+      val inputAttrs = AttributeSet(plan.children.flatMap(_.output))
 
       plan.foreach {
         case LogicalPlanWithDatasetId(p, id) if dsIdSet.contains(id) =>
@@ -101,7 +102,15 @@ object DetectAmbiguousSelfJoin extends Rule[LogicalPlan] {
                 // the attribute of column reference, then the column reference is ambiguous, as it
                 // refers to a column that gets regenerated by self-join.
                 val actualAttr = p.output(ref.colPos).asInstanceOf[AttributeReference]
-                if (actualAttr.exprId != ref.exprId) {
+                // We should only count ambiguous column references if the attribute is available as
+                // the input attributes of the root node. For example:
+                //   Join(b#1 = 3)
+                //     TableScan(t, [a#0, b#1])
+                //     Project(a#2)
+                //       TableScan(t, [a#2, b#3])
+                // This query is a self-join. The column 'b' in the join condition is not ambiguous,
+                // as it can't come from the right side, which only has column 'a'.
+                if (actualAttr.exprId != ref.exprId && inputAttrs.contains(actualAttr)) {
                   ambiguousColRefs += ref
                 }
               }
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/DataFrameSelfJoinSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/DataFrameSelfJoinSuite.scala
index 50846d9d12b97..76f07b5b0132d 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/DataFrameSelfJoinSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/DataFrameSelfJoinSuite.scala
@@ -248,4 +248,13 @@ class DataFrameSelfJoinSuite extends QueryTest with SharedSparkSession {
     val ds_id2 = df.logicalPlan.getTagValue(Dataset.DATASET_ID_TAG)
     assert(ds_id1 === ds_id2)
   }
+
+  test("SPARK-34200: ambiguous column reference should consider attribute availability") {
+    withTable("t") {
+      sql("CREATE TABLE t USING json AS SELECT 1 a, 2 b")
+      val df1 = spark.table("t")
+      val df2 = df1.select("a")
+      checkAnswer(df1.join(df2, df1("b") === 2), Row(1, 2, 1))
+    }
+  }
 }