Josephson current between two d -wave superconductors is calculated by using a lattice model. Here we consider two types of junctions, i.e., the parallel junction and the mirror-type junction. The maximum Josephson current ( J _c ) shows a wide variety of temperature ( T ) dependence depending on the misorientation angles and the types of junctions. When the misorientation angles are not zero, the Josephson current has anomalous temperature dependencies because of a zero energy state (ZES) at the interfaces. In the case of mirror-type junctions, J _c has a non monotonic temperature dependence. These results are consistent with previous results based on the quasiclassical theory [Y. Tanaka and S. Kashiwaya: Phys. Rev. B 56 (1997) 892]. On the other hand, we find that the ZES disappears in several junctions because of the Friedel oscillations of the wave function, which is peculiar to the lattice model. In such junctions, the temperature dependence of J _c is close to the Ambegaokar–Baratoff's relation.