There are public, although a bit outdated, versions available: ftp://ftp.ebi.edu.au/pub/databases/transfac/tfdoc32.txt
But I would suggest these databases: http://ebi.edu.au/ftp/software/MEME/Databases/motifs/motif_databases.12.2.tgz
They include JASPAR and other databases, and is quite up to date.
For the current up to date version of Transfac you need a license, as you know. The Bioinformatics group at the IMP has such a license, please contact Alex Schleiffer @ IMP for a collaboration request.
Hope that helps,