We investigate relativistic electron precipitation events detected by Polar Environmental Satellites (POES) in low‐Earth orbit in close conjunction with Van Allen Probe A observations of electromagnetic ion cyclotron (EMIC) waves near the geomagnetic equator. We show that the occurrence rate of >0.7 MeV electron precipitation recorded by POES during those times strongly increases, reaching statistically significant levels when the minimum electron energy for cyclotron resonance with hydrogen or helium band EMIC waves at the equator decreases below ≃1.0–2.5 MeV, as expected from the quasi‐linear theory. Both hydrogen and helium band EMIC waves can be effective in precipitating MeV electrons. However, >0.7 MeV electron precipitation is more often observed (at statistically significant levels) when the minimum electron energy for cyclotron resonance with hydrogen band waves is low (Emin = 0.6–1.0 MeV), whereas it is more often observed when the minimum electron energy for cyclotron resonance with helium band waves is slightly larger (Emin = 1.0–2.5 MeV). This is indicative of the warm plasma effects for waves approaching the He+ gyrofrequency. We further show that most precipitation events had energies > 0.7–1.0 MeV, consistent with the estimated minimum energy (Emin ∼ 0.6 − 2.5 MeV) of cyclotron resonance with the observed EMIC waves during the majority of these events. However, 4 out of the 12 detected precipitation events cannot be explained by electron quasi‐linear scattering by the observed EMIC waves, and 12 out of 20 theoretically expected precipitation events were not detected by POES, suggesting the possibility of nonlinear effects likely present near the magnetic equator, or warm plasma effects, and/or narrowly localized bursts of EMIC waves. Key Points We examine close conjunctions of relativistic electron precipitation observed at Polar Environmental Satellites and electromagnetic ion cyclotron wave measurements by Van Allen Probes The occurrence rate of MeV electron precipitation becomes statistically significant when cyclotron resonance is possible below 1–2.5 MeV During most precipitation events, a majority of precipitating electrons likely had energies larger than 0.7 MeV