We introduce two novel joint radio-frequency (RF)-baseband designs for receivers in a MIMO system with N t transmit antennas, N r receive antennas, but only L < N r RF chains at the receiver. The joint design introduces an RF preprocessing matrix that processes the signals from the different antennas, and is followed by selection (if necessary), downconversion, and further processing in the baseband. The schemes are similar to conventional antenna selection in that they use fewer RF chains than antenna elements, but achieve superior performance by exploiting the spatial correlation of the received signals. The first of our proposed designs uses an L × N r RF pre-processing matrix that outputs only L streams followed by baseband signal processing, and, thus, eliminates the need for a selection switch. The second one uses an N r × N r RF preprocessing matrix that outputs N r streams and is followed by a switch that selects L streams for baseband signal processing. Both spatial diversity and spatial multiplexing systems are considered and the optimum pre-processing matrices are derived for all cases. To accommodate practical RF design constraints, which prefer a variable phase-shifter-based implementation, a suboptimal phase approximation is also introduced. Performance better than conventional antenna selection and close to the full complexity receiver is observed in both single cluster and multi-cluster wireless channels. A beam-pattern-based geometric intuition is also developed to illustrate the effectiveness of the optimal solutions.