SELECT t1.id
FROM table1 t1
LEFT JOIN table2 t2 ON t2.id = t1.id
WHERE t2.id IS NULL
Conceptually, we select all rows from table1 and for each row we attempt to find a row in table2 with the same value for the id column. If there is no such row, we just leave the table2 portion of our result empty for that row. Then we constrain our selection by picking only those rows in the result where the matching row does not exist. Finally, We ignore all fields from our result except for the id column (the one we are sure that exists, from table1).