How about using a terminal web browser like w3m or elinks? Of course, they're no firefox or chrome, but you might be surprised by the amount of features they have. They both have tabs, you can scroll with your mousewheel, and click on links with your mouse, they have context menus, etc. w3m can display images in the terminal as well, and they can be turned off if you prefer it that way.
It sounds like your beaf is not with the web but the current state of many websites.
If you want a simple web of documents then you can build one easily yourself. You can look at something like GitHub that allows you to easily publish a website made of simple markdown pages. It allows you to easily create simple or complex pages.
Personally I wish browsers had native support for displaying Markdown content.