Since it's not mentioned here yet: You should also take a look at Dojox.drawing, which also provides good SVG drawing capabilities. It has a pretty impressive set of features. I'm just starting a project with it, but it seems to me that it's far superior (at least in terms of features) to Raphael and JQuerySVG.
This presentation convinced me to use it instead of Raphael/JQuerySVG: http://www.slideshare.net/elazutkin/dojo-gfx-svg-in-the-real-world-2114082
Reference: http://dojotoolkit.org/reference-guide/dojox/index.html
Reference on Dojocampus: http://docs.dojocampus.org/dojox/drawing
Download Dojo (including Dojox): http://dojotoolkit.org/download/