The KEY_COLUMN_USAGE table describes which key columns have constraints.
mysql>
mysql>
mysql> desc INFORMATION_SCHEMA.KEY_COLUMN_USAGE;
+-------------------------------+--------------+------+-----+---------+-------+
| Field | Type | Null | Key | Default | Extra |
+-------------------------------+--------------+------+-----+---------+-------+
| CONSTRAINT_CATALOG | varchar(512) | YES | | NULL | |
| CONSTRAINT_SCHEMA | varchar(64) | NO | | | |
| CONSTRAINT_NAME | varchar(64) | NO | | | |
| TABLE_CATALOG | varchar(512) | YES | | NULL | |
| TABLE_SCHEMA | varchar(64) | NO | | | |
| TABLE_NAME | varchar(64) | NO | | | |
| COLUMN_NAME | varchar(64) | NO | | | |
| ORDINAL_POSITION | bigint(10) | NO | | 0 | |
| POSITION_IN_UNIQUE_CONSTRAINT | bigint(10) | YES | | NULL | |
| REFERENCED_TABLE_SCHEMA | varchar(64) | YES | | NULL | |
| REFERENCED_TABLE_NAME | varchar(64) | YES | | NULL | |
| REFERENCED_COLUMN_NAME | varchar(64) | YES | | NULL | |
+-------------------------------+--------------+------+-----+---------+-------+
12 rows in set (0.00 sec)