Omluvte mou syntaxi, pokud je trochu mimo, ale pravděpodobně bych zkusil něco takového.
SELECT people.id,
people.avatar,
people.firstname,
people.lastname,
LEFT(msg.message, 90) AS message,
msg.seen,
msg.date
FROM people
INNER JOIN (SELECT message, seen, date, sender_id
FROM messages GROUP By sender_id
ORDER By date DESC LIMIT 1) msg
ON people.id = msg.sender_id
WHERE reciever_id = '". $user_data['id'] ."'