Let M be a left R-module and F a submodule of M for any ring R. We call M F-semiregular if for every x 2 M, there exists a decomposition M ¼ A È B such that A is projective, A Rx and Rx \ B F. This definition extends several notions in the literature. We investigate some equivalent conditions to F-semiregular modules and consider some certain fully invariant submodules such as ZðMÞ; SocðMÞ; dðMÞ. We prove, among others, that if M is a finitely generated projective module, then M is quasi-injective if and only if M is ZðMÞ-semiregular and M È M is CS. If M is projective SocðMÞ-semiregular module, then M is semiregular. We also characterize QF-rings R with JðRÞ 2 ¼ 0.