From a comment on the announcement blog post:
Regarding JSON: JSON is structured similarly to Protocol Buffers, but protocol buffer binary format
Yes, since Protocol Buffers version 3.0.0 (released July 28, 2016) there is "A well-defined encoding in JSON as an alternative to binary proto encoding" as mentioned in the release notes
https://github.com/google/protobuf/releases/tag/v3.0.0