I also needed what you've been searching for and did some research.
I found JSC3D (https://code.google.com/p/jsc3d/).
It's a project written entirely in Javascript and uses the HTML canvas. It has been tested for Opera, Chrome, Firefox, Safari, IE9 and more.
Then you have services as p3d.in and Sketchfab that give you a nice reader to view 3D models on a web page: they use HTML5 and WebGL. They both have a free version.
