IRC is IMHO an example of a good text-based protocol design, along with several of the other early Internet application-layer protocols (POP, SMTP, HTTP); usable manually with nothing more than a
netcat terminal, but also by more fully-featured clients. Early versions of MSNP had a similar flavour, before Microsoft decided to bloatedly XML-ify and SOAP-ify it.
Also, can we please stop using the word "modern" in everything? It's essentially meaningless. At least the name of the page doesn't have it.
Example: I have a book titled "Modern Welding" on my bookshelf (or, as others have called it, "Modem Welding", which partly explains why it's there...), whose copyright date is 1965.