The only text-formatted ones I know of are wavefront obj, valve smd, valve .dmx, directX .x, collada .dae, vrml, lightwave .lwo, doom md2, doom md5mesh / md5anim, and .psk.
.smd, .x, .dae, .md5, and .psk all support skeletons. .md2 doesn't use skeletons, but supports vertex animation.