It is also possible using the having_attributes alias:
expect(my_array).to include( an_object_having_attributes(id: 5) )
or, as in my own use case, matching the whole array:
expect(my_array).to contain_exactly(
an_object_having_attributes(id: 5),
an_object_having_attributes(id: 6),
an_object_having_attributes(id: 2)
)