In the area of wireless sensor networks, the efficient spatial query processing based on the locations of sensor nodes is required. Especially, spatial queries on two sensor networks need a distributed spatial join processing among the sensor networks. Because the distributed spatial join processing causes lots of wireless transmissions in accessing sensor nodes of two sensor networks, our goal of this paper is to reduce the wireless transmissions for the energy efficiency of sensor nodes. In this paper, we propose an energy-efficient distributed spatial join algorithm on two heterogeneous sensor networks, which performs in-network spatial join processing. To optimize the in-network processing, we also propose a Grid-based Rectangle tree (GR-tree) and a grid-based approximation function. The GR-tree reduces the wireless transmissions by supporting a distributed spatial search for sensor nodes. The grid-based approximation function reduces the wireless transmissions by reducing the volume of spatial query objects which should be pushed down to sensor nodes. Finally, we compare naive and existing approaches through extensive experiments and clarify our approach's distinguished features.