Paste the following code in your functions.php file, save it, and you’re done.
function ds_print_jquery_in_footer( &$scripts) {
if ( ! is_admin() )
$scripts->add_data( 'jquery', 'group', 1 );
}
add_action( 'wp_default_scripts', 'ds_print_jquery_in_footer' );
Credit: Dominik Schilling.