Oct 2016: Fixed. Parentheses in jsbin demo were missing from answer. Oops.

Chrome, Firefox, IE9+. Live Demo on jsbin

var h = document.documentElement, 
    b = document.body,
    st = 'scrollTop',
    sh = 'scrollHeight';

var percent = (h[st]||b[st]) / ((h[sh]||b[sh]) - h.clientHeight) * 100;

As function:

function getScrollPercent() {
    var h =