First, convert your data to a .csv file. Then, use LOAD DATA INFILE to import your data.

LOAD DATA INFILE 'data.csv'
    INTO TABLE tbl_name
    FIELDS TERMINATED BY ','
    ENCLOSED BY '\"'
    LINES TERMINATED BY '\r\n'
    IGNORE 1 LINES
    (col1, col2, col3...)

(Remember to skip the primary key)

To improve performance, disable foreign key check: SET foreign_key_checks = 0;

Use SELECT @@foreign_key_checks; to check the status of foreign_key_checks