It is right there on the Selenium website (see below). Of course, the Firefox compatibility might have changed with the recent updates (you now have to use Marionette), so that could have some impact.
Support for Firefox is the latest release, the previous release, the latest ESR release and the previous ESR release.
For example Selenium 2.40.0 (released on Feb 19, 2014) supports Firefox 27, 26, 24, 17
Selenium with Firefox can be run on any platform that Firefox supports for those versions, that also allow users to install a custom Firefox extension.
Versions 7, 8, 9, 10 and 11 are supported. Version 11 requires additional configuration.
The selenium project tests each release on Windows 7.
SafariDriver requires Safari 5.1+ (Note, due to Apple potentially dropping support > Safari 6.X for Windows, new developments in the bindings may not work in the Windows platform)
OperaDriver is supported by Opera Software, refer to their documentation for supported versions.
ChromeDriver is supported by the Chromium project, please refer to their documentation for any compatibility information
WebDriver support is available for Internet Explorer (IE6 through IE11) via the open source IEDriverServer.exe provided by the Selenium Project.
The Microsoft Edge browser provides its own implementation of WebDriver.
https://sites.google.com/a/chromium.org/chromedriver/downloads - the latest release supports Chrome v53 to v55.
For Safari 10+, use Apple's SafariDriver (the one provided by Selenium is outdated).