I was facing the exactly same question two weeks ago, and I didn't wanted to try AMD with requireJS, which seemed a bit complicated for what I wanted to do (and seemed to have advantages but also disadvantages..)
The simple solution which convinced me is the following :
I have 3 folders in my js folder : "models", "controllers", and "views" which contains my js "classes", and I have an "index.html" that import all the js files (I used HTML5 boilerplate to get a convenient index.html).
To be clear, in my index.html, I have at the end of the file something like :
<script src="js/app.js"></script>
<script src="js/models/note.js"></script>
<script src="js/controllers/notesController.js"></script>
<script src="js/controllers/selectedNoteController.js"></script>
<script src="js/views/menuView.js"></script>
<script src="js/views/noteResumeView.js"></script>
<script src="js/views/noteView.js"></script>
<script src="js/views/createNoteView.js"></script>
<script src="js/views/listeNotesView.js"></script>
Hope this help, (and that I didn't misunderstood your question)