Well if you don't find anything, I wonder how easy it would be to adapt my DocBook XML reader to do HTML (sans any sort of script, dynamic content, or remote content). It's pretty much as you describe, little more than a pager for stuff that one can pipe into it, or files named on the command line. I pretty much aimed at just under pg(1) for DocBook XML.

* http://jdebp.info/Softwares/nosh/guide/commands/console-docb...