Probably the best (but not out-of-the-box) solution is to draw this in vector graphics editor (for example, Inkscape).
I've stumbled upon this question looking for the same problem solution.
And I thought it can be useful to someone else if I share my findings.
Somewhat different PDU structure diagrams can be drawn with packetdiag, in wavedrom editor or described with TeX.
Also there are some relevant info in answers to related question: https://stackoverflow.com/questions/2034636/best-way-to-document-a-packet-protocol (how packet structures are described in RFCs). Question is deleted now, but you can find it in webarchive.
It would be great if share the way you solved this problem.