Instead of having them linked via a parent child relationship you should have them connected by a “joint”, I tend to always use config joints but you may prefer one of the others depending upon what you are doing.
This will sort out your current issue and avoid possible future issues that you might get from having a rigidbody as a child of another rigidbody, something that you really should not do because it can cause some very weird behavior.
A normal compound collider setup only has one rigidbody, placed on the root object(top level parent) with colliders with NO rigidbodys on the child objects. The parent rigidbody then handles all the child colliders as one, and acts accordingly.