ANTLR 3.1 and 3.2 had some bugs w.r.t. generating JavaScript code1, but you should be okay with version 3.3.
You can find the JavaScript runtime here: http://www.antlr3.org/download/antlr-javascript-runtime-3.1.zip
A small demo of how to use ANTLR + JS can be found in this Q&A: ANTLR PCRE Grammar to JS Target
1 http://www.antlr.org/wiki/display/ANTLR3/ANTLR3JavaScriptTarget