Have a look at this page, which describes the two database formats (Berkeley DB and FSFS).
The Subversion source code contains information on the database in the subversion/libsvn_fs_base/notes
folder - there's some history, and a description and diagram of the schema.
You could also view the source code itself. For example, this contains code relating to creating a BDB database:
https://svn.apache.org/viewvc/subversion/trunk/subversion/libsvn_fs_base/fs.c?view=markup
and there's also source code for each table in the database:
https://svn.apache.org/viewvc/subversion/trunk/subversion/libsvn_fs_base/bdb/
You can dump the contents of a table in the database:
db4.8_dump YOUR_REPO/db/revisions # or 'changes', or 'locks', or...