I personally think it is not that big of a requirement to expect people to have Javascript turned on.
If you do not want to support non-javascript, it is as simple as:
<noscript>
This site works better with Javascript turned on.
</noscript>
Near the top.
If you still want to support users without Javascript, you can structure your Javascript so that if the JS isn't loaded, all of the forms still submit to the right place.
For instance, if you have a form:
<form action="" method="POST">
<input type="text" name="name">
<input type="submit">
</form>
Don't build the actual form with the idea that you are using Javascript. Instead, simply hook into the page to enhance the experience.
Regularly, the above form would submit to itself. With Javascript, you can hook in and make that Submit happen through AJAX instead of a new page load.