RFC 7230, the relevant part of the current version of the spec, is pretty clear and to the point:
3. Message Format
A recipient MUST parse an HTTP message as a sequence of octets in an encoding that is a superset of US-ASCII*. Parsing an HTTP message as a stream of Unicode characters, without regard for the specific encoding, creates security vulnerabilities due to the varying ways that string processing libraries handle invalid multibyte character sequences that contain the octet LF (%x0A).
This allows for (at minimum) using a conformant UTF-8 parser, because UTF-8 avoids encoding confusing ASCII-subset characters in its multibyte code units, so e.g.
%x0A will always be correctly recognized as an actual LF character.
There's a further note that, once you've successfully parsed the basic message into its header key-value pairs plus the message body, you can begin parsing the pieces with a more relaxed or non-default approach, according to certain headers. This is especially useful with RFC 7231's Content-Type header:
22.214.171.124. Media Type
HTTP uses Internet media types [RFC2046] in the Content-Type (Section 126.96.36.199) and Accept (Section 5.3.2) header fields in order to provide open and extensible data typing and type negotiation.
RFC2046 is all about extending MIME to message bodies, and has in turn a nice clear section on the Charset parameter:
4.1.2. Charset Parameter
A critical parameter that may be specified in the Content-Type field for "text/plain" data is the character set. This is specified with a "charset" parameter, as in:
Content-type: text/plain; charset=iso-8859-1
It goes on to explain that other
text/ media types should use the same charset semantics.
Content-Transfer-Encoding (obsolete) all refer to a very limited set of encodings for compression or chunking — not character sets.
*American National Standards Institute, "Coded Character Set -- 7-bit American Standard Code for Information Interchange", ANSI X3.4, 1986.