Most vocabularies/ontologies are defined using RDF.
The vocabulary Schema.org is no exception. The canonical/machine-readable representation of Schema.org is provided in HTML+RDFa:
http://schema.org/docs/schema_org_rdfa.html
This file always contains the current release. If you are interested in specific versions of Schema.org, snapshots are available.
As a quick overview:
RDFa is a RDF serialization which many RDF parsers support (if not, it’s simple to automatically convert it into other RDF serializations, like Turtle, RDF/XML, or JSON-LD). There are many different tools and libraries available for this purpose. (You should use an RDF-aware tool instead of trying to parse the file as HTML.)