If I want to see how foo.bar looked like in some certain commit then I can invoke:
git show :foo.bar
There's a package called git-timemachine that makes the process of viewing previous versions of a file almost completely seamless; see the link for installation instructions and a demo. (If you are already using MELPA, just do M-x package-install RET git-timemachine RET).
The way it works is, you call M-x git-timemachine RET from a buffer visiting a tracked file. Then you can:
pVisit previous historic versionnVisit next historic versionwCopy the abbreviated hash of the current historic versionWCopy the full hash of the current historic versionqExit the time machine.
Note that if you know the hash of the commit you want to visit, the custom command from @phils' solution will serve you better for that specific use case. But for navigating between different versions of a file I find that using git-timemachine is even easier than using the functionality that VC provides.
You can of course bind git-timemachine to a key binding of your choice.