For Rails4:
So, what you're wanting is an inner join, so you really should just use the joins predicate:
  Foo.joins(:bar)
  Select * from Foo Inner Join Bars ...
But, for the record, if you want a "NOT NULL" condition simply use the not predicate:
Foo.includes(:bar).where.not(bars: {id: nil})
Select * from Foo Left Outer Join Bars on .. WHERE bars.id IS NOT NULL
Note that this syntax reports a deprecation (it talks about a string SQL snippet, but I guess the hash condition is changed to string in the parser?), so be sure to add the references to the end:
Foo.includes(:bar).where.not(bars: {id: nil}).references(:bar)
DEPRECATION WARNING: It looks like you are eager loading table(s) (one
  of: ....) that are referenced in a string SQL snippet. For example:
Post.includes(:comments).where("comments.title = 'foo'")
Currently, Active Record recognizes the table in the string, and knows
  to JOIN the comments table to the query, rather than loading comments
  in a separate query. However, doing this without writing a full-blown
  SQL parser is inherently flawed. Since we don't want to write an SQL
  parser, we are removing this functionality. From now on, you must
  explicitly tell Active Record when you are referencing a table from a
  string:
Post.includes(:comments).where("comments.title = 'foo'").references(:comments)