Yes, they all are public.
struct A : B {
C c;
void foo() const {}
}
is equivalent to
struct A : public B {
public:
C c;
void foo() const {}
}
For members, it is specified in §11:
Members of a class defined with the keyword class are private by default. Members of a class defined with the keywords struct or union are public by default.
and for for base classes in §11.2:
In the absence of an access-specifier for a base class, public is assumed when the derived class is defined with the class-key struct and private is assumed when the class is defined with the class-key class.
where the references are to the C++11 standard.