Försök så här...
DELETE c, o, od
FROM customers as c
JOIN orders as o ON c.id = o.customers_id
JOIN order_detail as od ON o.id = od.orders_id
WHERE c.id IN (66,67,68,90,85,81,80,78,76,74,71,118,113,110,149)
För mer referens http://dev.mysql.com/doc/ refman/5.7/en/delete.html