Check out libebb, it has a parser generated with Raegel using the easy yet powerful PEG (it's based on Zed Shaw's mongrel parser)
libebb is a lightweight HTTP server library for C.
It lays the foundation for writing a web server
by providing the socket juggling and request parsing.
By implementing the HTTP/1.1 grammar provided
in RFC2612, libebb understands most most valid HTTP/1.1
connections (persistent, pipelined, and
chunked requests included) and rejects invalid or
malicious requests. libebb supports SSL over HTTP.
Also check this speedy parser