You can use this solution:
SELECT b.filename
FROM posts a
INNER JOIN images b ON FIND_IN_SET(b.imageid, a.gallery) > 0
WHERE a.postid = 3
SQLFiddle
However, you should really normalize your design and use a cross-reference table between posts and images. This would be the best and most efficient way of representing N:M (many-to-many) relationships. Not only is it much more efficient for retrieval, but it will vastly simplify updating and deleting image associations.
...but the comma-separated value is easier to work with as far as the jQuery script I am using to add to it.
Even if you properly represented the N:M relationship with a cross-reference table, you can still get the imageid's in CSV format:
Suppose you have a posts_has_images table with primary key fields (postid, imageid):
You can use GROUP_CONCAT() to get a CSV of the imageid's for each postid:
SELECT postid, GROUP_CONCAT(imageid) AS gallery
FROM posts_has_images
GROUP BY postid