Is there a more complete description of JavaScript's DOM class hierarchy than the one from JavaScript: The Definitive Guide? 
It doesn't show many other classes such as HTMLFormElement, HTMLButtonElement.
https://developer.mozilla.org/en-US/docs/Web/API doesn't seem to provide hierarchy information.
Yes, the DOM is described in the HTML specification, which is free, open source and available at http://html.spec.whatwg.org/
Note that this is declared in formal language (IDL) so that it is not ambiguous and browsers actually compile it into tests. For example here's Document. Here is for example HTMLButtonElement, HTMLFormElement.
On top of that you have the WPT (web platform tests) that make sure that the non-formal parts are tested.
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