As far as I see, Readme.io has additional features but everything you've listed is available for free on readthedocs.org, built on Sphinx which is free software.
Last time i watch at RTD it was a plain .md project import from e.g. GitHub only to show a plain documentation.
In Readme.io you can edit/write your docs, have blog function and an integrated discussion plattform (for support your users). If you not need this features, you can use RTD or directly sphinx.