How to select elements which do not have a specific child element with JQuery

Is there a JQuery selector to select all elements which do not have certain child element as a direct child? For example:

<p>
    text in paragraph
</p>
<p>
    <div>text in div</div>
</p>

I want to select only <p>s like the first one (without a <div> child). Is this possible?

Further information: Actually I'm trying to insert a <div> into all those <p> that do not have one by an expression like this:

$('p').wrapInner('<div />')

But this would add an additional <div> to the second <p>.