I was looking for something similar just recently and found that the Changelog is probably the best place to look at for compatibility questions:
https://github.com/SeleniumHQ/selenium/blob/master/java/CHANGELOG
(used to be at http://selenium.googlecode.com/git/java/CHANGELOG when Selenium was hosted on Google Code).
All the most recent version have a support up to Firefox v XX comment at the very top of each version.
The older ones you have to read in the comments a little, but they will say which version is the greatest supported for that release.
Hope this helps.
