You can try with filter() and some().
Please Note: The following solution will also work for other falsy inputs like "" and undefined.
Using Lodash:
const arr = [["a","b","c"],["f","r","p",0],["r",22,null,"t"],["d","e","f"],["d",undefined,"f"],["d","e","f",""]];
var res = _.filter(arr, a => !a.some(i => !i));
console.log(res);
<script src="https://cdnjs.cloudflare.com/ajax/libs/lodash.js/4.17.14/lodash.core.min.js" integrity="sha256-NAQPwApfC7Ky1Y54LjXf7UrUQFbkmBEPFh/7F7Zbew4=" crossorigin="anonymous"></script>
Using Vanilla JS:
const arr = [["a","b","c"],["f","r","p",0],["r",22,null,"t"],["d","e","f"],["d",undefined,"f"],["d","e","f",""]];
var res = arr.filter(a => !a.some(i => !i));
console.log(res);