You could use iGraph: http://igraph.sourceforge.net/ which is a C library which should satisfy what you are after.
There is also http://ubietylab.net/ubigraph/, there is a related SO post here: https://stackoverflow.com/questions/2751826/which-c-graph-library-should-i-use.
I have not used ubigraph so cannot comment on that, I mainly use networkX and iGraph
UPDATE
It seems that ubigraph is dead now so only igraph is maintained currently
