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<!--
The only real caveat to this solution that I’ve encountered so far is the styling limitations present with elements using display: table-row.
Often padding, margin, etc. don’t behave as expected. This is easy enough to work around by adding a <div> or something inside the .page-row and styling that:
-->

<header class="page-row">
  <h1>Site Title</h1>
</header>

<main class="page-row page-row-expanded">
  <p>Page content goes here.</p>
</main>

<footer class="page-row">
  <p>Copyright, blah blah blah.</p>
</footer>

html,
body { height: 100%; }

body {
  display: table;
  width: 100%;
}

.page-row {
  display: table-row;
  height: 1px;
}

.page-row-expanded { height: 100%; }