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You need to have a /robot_description (loaded from urdf/xacro) and use the RobotModel visualization in rviz to see the joints. Expand RobotModel and there should be an item called 'Links', which via the 'Link Tree Style' option can be changed to 'Joints in Alphabetic Order' or 'Tree of links and joints'. With either of those it is possible to check 'Show Joint Axis' for any joint in the robot.

That is at least in the kinetic version since rviz 1.12.4. https://github.com/ros-visualization/rviz/pull/1029