Apex Controller:
Create below apex controller to get the inner SOQL query data.

public with sharing class AuraSampleController{
    @AuraEnabled
    public static List<Account> getAccounts() {
        List <Account> accList = [SELECT Name, Type, Industry, (SELECT FirstName, LastName From contacts) From Account LIMIT 5];
        return accList;
    }
}

Sample Lightning Component:
Create below lightning component Sample.cmp for display the inner SOQL query data on component.

<!--Sample.cmp-->
<aura:component controller="AuraSampleController">
    <aura:attribute name="accList" type="Account[]" description="List of Accounts with respective Contacts"/>
    <aura:handler name="init" value="{!this}" action="{!c.doInit}"/>
    <ul>
        <aura:iteration items="{!v.accList}" var="acc">
            <li type="dice">Account Name : {!acc.Name}</li>
            <ul>
                <aura:iteration items="{!acc.Contacts}" var="con" indexVar="index">
                    <li>Contact Name : {!con.FirstName} &nbsp; {!con.LastName}</li>
                </aura:iteration>
            </ul>
            <hr/>
        </aura:iteration>
    </ul>
</aura:component>

Sample Lightning Component JS Controller:
Create below JavaScript Controller for above Sample.cmp component.

({
    doInit: function(component, event, helper) {
        //Call apex class method
        var action = component.get('c.getAccounts');
        action.setCallback(this, function(response) {
            //Get state of response
            var state = response.getState();
            if (state === "SUCCESS") {
                //Set result in accList attribute on component.
                component.set('v.accList', response.getReturnValue());
            }
        });
        $A.enqueueAction(action);
    }
})

Lightning Test App:

<!--Test.app-->
<aura:application extends="force:slds">
    <c:Sample />
</aura:application>

Output: