Probably the best (albeit not the simplest) solution is to draw packet structure diagrams in a vector graphics editor (for example, Inkscape).
I've stumbled upon this question looking for a solution to the same problem.
And I thought it can be useful to someone else if I share my findings.
Somewhat different PDU structure diagrams can be drawn with packetdiag, in wavedrom editor or described with TeX.
Also, there are some relevant info in answers to related question: https://stackoverflow.com/questions/2034636/best-way-to-document-a-packet-protocol (how packet structures are described in RFCs). Question is deleted now, but you can find it in webarchive.
It would be great if share the way you solved this problem.