diff --git a/changelog/new_add_new_rails_where_missing_cop.md b/changelog/new_add_new_rails_where_missing_cop.md
new file mode 100644
index 0000000000..0f32e082c8
--- /dev/null
+++ b/changelog/new_add_new_rails_where_missing_cop.md
@@ -0,0 +1 @@
+* [#744](https://github.com/rubocop/rubocop-rails/pull/744): Add new `Rails/WhereMissing` cop. ([@ydah][])
diff --git a/config/default.yml b/config/default.yml
index 27446c2fed..5939c7da70 100644
--- a/config/default.yml
+++ b/config/default.yml
@@ -1003,6 +1003,12 @@ Rails/WhereExists:
   VersionAdded: '2.7'
   VersionChanged: '2.10'
 
+Rails/WhereMissing:
+  Description: 'Check for the use `left_joins` and `where` method for finding missing relationship records.'
+  StyleGuide: 'https://rails.rubystyle.guide/#finding-missing-relationship-records'
+  Enabled: pending
+  VersionAdded: '<<next>>'
+
 Rails/WhereNot:
   Description: 'Use `where.not(...)` instead of manually constructing negated SQL in `where`.'
   StyleGuide: 'https://rails.rubystyle.guide/#hash-conditions'
diff --git a/lib/rubocop/cop/rails/where_missing.rb b/lib/rubocop/cop/rails/where_missing.rb
new file mode 100644
index 0000000000..150d46138e
--- /dev/null
+++ b/lib/rubocop/cop/rails/where_missing.rb
@@ -0,0 +1,75 @@
+# frozen_string_literal: true
+
+module RuboCop
+  module Cop
+    module Rails
+      # Check for the use `left_joins` and `where` method for finding missing relationship records.
+      #
+      # This cop is enabled in Rails 6.1 or higher.
+      #
+      # @example
+      #   # bad
+      #   Foo.left_joins(:foo).where(foos: { id: nil })
+      #
+      #   # good
+      #   Foo.where.missing(:foo)
+      #
+      class WhereMissing < Base
+        include RangeHelp
+        extend AutoCorrector
+        extend TargetRailsVersion
+
+        MSG = 'Use `where.missing` instead.'
+        RESTRICT_ON_SEND = %i[where].freeze
+
+        minimum_target_rails_version 6.1
+
+        # @!method find_missing_relationship_record?(node)
+        def_node_search :find_missing_relationship_record?, <<~PATTERN
+          (send (send ... :left_joins (sym _)) :where (hash (pair (sym _) (hash (pair (sym :id) (nil))))))
+        PATTERN
+
+        # @!method left_joins_argument(node)
+        def_node_matcher :left_joins_argument, <<~PATTERN
+          (send (const nil? _) :left_joins (sym $_))
+        PATTERN
+
+        # @!method where_argument(node)
+        def_node_matcher :where_argument, <<~PATTERN
+          (send ... (hash (pair (sym $_) _)))
+        PATTERN
+
+        def on_send(node)
+          return unless find_missing_relationship_record?(node)
+
+          left_joins_node = node.receiver
+          return unless same_relationship?(node, left_joins_node)
+
+          register_offense(node, left_joins_node)
+        end
+
+        private
+
+        def register_offense(node, left_joins_node)
+          range = range_between(left_joins_node.loc.selector.begin_pos, left_joins_node.parent.loc.end.end_pos)
+          add_offense(range) do |corrector|
+            autocorrect(node, left_joins_node, corrector)
+          end
+        end
+
+        def autocorrect(node, left_joins_node, corrector)
+          corrector.replace(range_between(left_joins_node.loc.selector.begin_pos, node.loc.end.end_pos),
+                            replaced_method(left_joins_node))
+        end
+
+        def same_relationship?(where_node, left_joins_node)
+          "#{left_joins_argument(left_joins_node)}s" == where_argument(where_node).to_s
+        end
+
+        def replaced_method(node)
+          "where.missing(:#{left_joins_argument(node)})"
+        end
+      end
+    end
+  end
+end
diff --git a/lib/rubocop/cop/rails_cops.rb b/lib/rubocop/cop/rails_cops.rb
index cf7c6c5769..e5266f51af 100644
--- a/lib/rubocop/cop/rails_cops.rb
+++ b/lib/rubocop/cop/rails_cops.rb
@@ -119,4 +119,5 @@
 require_relative 'rails/validation'
 require_relative 'rails/where_equals'
 require_relative 'rails/where_exists'
+require_relative 'rails/where_missing'
 require_relative 'rails/where_not'
diff --git a/spec/rubocop/cop/rails/where_missing_spec.rb b/spec/rubocop/cop/rails/where_missing_spec.rb
new file mode 100644
index 0000000000..f4450b7b24
--- /dev/null
+++ b/spec/rubocop/cop/rails/where_missing_spec.rb
@@ -0,0 +1,133 @@
+# frozen_string_literal: true
+
+RSpec.describe RuboCop::Cop::Rails::WhereMissing, :config do
+  context 'Rails 6.1', :rails61 do
+    it 'registers an offense when using `left_joins(foo).where(foos: {id: nil})`' do
+      expect_offense(<<~RUBY)
+        Foo.left_joins(:foo).where(foos: { id: nil }).where(bar: "bar")
+            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Use `where.missing` instead.
+      RUBY
+
+      expect_correction(<<~RUBY)
+        Foo.where.missing(:foo).where(bar: "bar")
+      RUBY
+    end
+
+    it 'registers an offense when using `left_joins(foo).where(foos: {id: nil})` with multi-line leading ' \
+       'dot method calls' do
+      expect_offense(<<~RUBY)
+        Foo
+          .left_joins(:foo)
+           ^^^^^^^^^^^^^^^^ Use `where.missing` instead.
+          .where(foos: { id: nil })
+          .where(bar: "bar")
+      RUBY
+
+      expect_correction(<<~RUBY)
+        Foo
+          .where.missing(:foo)
+          .where(bar: "bar")
+      RUBY
+    end
+
+    it 'registers an offense when using `left_joins(foo).where(foos: {id: nil})` with multi-line trailing ' \
+       'dot method calls' do
+      expect_offense(<<~RUBY)
+        Foo.
+          left_joins(:foo).
+          ^^^^^^^^^^^^^^^^^ Use `where.missing` instead.
+          where(foos: { id: nil }).
+          where(bar: "bar")
+      RUBY
+
+      expect_correction(<<~RUBY)
+        Foo.
+          where.missing(:foo).
+          where(bar: "bar")
+      RUBY
+    end
+
+    it 'registers an offense when using `left_joins(foo).where(foos: {id: nil})` and there is a line break after' \
+       '`left_joins.where`' do
+      expect_offense(<<~RUBY)
+        Foo.left_joins(:foo).where(foos: { id: nil })
+            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Use `where.missing` instead.
+          .where(bar: "bar")
+      RUBY
+
+      expect_correction(<<~RUBY)
+        Foo.where.missing(:foo)
+          .where(bar: "bar")
+      RUBY
+    end
+
+    it 'registers an offense when using `left_joins(foo).where(foos: {id: nil})` and there is a line break after' \
+       '`left_joins.where` and receiver' do
+      expect_offense(<<~RUBY)
+        Foo
+          .left_joins(:foo).where(foos: { id: nil })
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Use `where.missing` instead.
+          .where(bar: "bar")
+      RUBY
+
+      expect_correction(<<~RUBY)
+        Foo
+          .where.missing(:foo)
+          .where(bar: "bar")
+      RUBY
+    end
+
+    it 'does not register an offense when not finding missing relationship records`' do
+      expect_no_offenses(<<~RUBY)
+        Foo.left_joins(:foo).where(bazs: { id: nil })
+        Foo.left_joins(:foo).where(foos: { name: nil })
+        Foo.left_joins(:foo).where(foos: { id: 1 })
+      RUBY
+    end
+  end
+
+  context 'Rails 6.0', :rails60 do
+    it 'does not register an offense when using `left_joins(foo).where(foos: {id: nil})`' do
+      expect_no_offenses(<<~RUBY)
+        Foo.left_joins(:foo).where(foos: { id: nil }).where(bar: "bar")
+      RUBY
+    end
+
+    it 'does not register an offense when using `left_joins(foo).where(foos: {id: nil})` with multi-line leading ' \
+       'dot method calls' do
+      expect_no_offenses(<<~RUBY)
+        Foo
+          .left_joins(:foo)
+          .where(foos: { id: nil })
+          .where(bar: "bar")
+      RUBY
+    end
+
+    it 'does not register an offense when using `left_joins(foo).where(foos: {id: nil})` with multi-line trailing ' \
+       'dot method calls' do
+      expect_no_offenses(<<~RUBY)
+        Foo.
+          left_joins(:foo).
+          where(foos: { id: nil }).
+          where(bar: "bar")
+      RUBY
+    end
+
+    it 'does not register an offense when using `left_joins(foo).where(foos: {id: nil})` and there is a line break ' \
+       '`after left_joins.where`' do
+      expect_no_offenses(<<~RUBY)
+        Foo.left_joins(:foo).where(foos: { id: nil })
+          .where(bar: "bar")
+      RUBY
+    end
+
+    it 'does not register an offense when using `left_joins(foo).where(foos: {id: nil})` and there is a line break ' \
+       '`after left_joins.where` and receiver' do
+      expect_no_offenses(<<~RUBY)
+        Foo
+          .left_joins(:foo).where(foos: { id: nil })
+          .where(bar: "bar")
+      RUBY
+    end
+  end
+end