You are correct, it's not in the docs.
I went looking in the source code, and I found some clues, maybe that will help.
get_frustum() returns the result of get_projection_planes() on the camera transform:
https://github.com/godotengine/godot/blob/master/scene/3d/camera.cpp#L637
get_projection_planes() returns 6 Plane objects (for the bounding planes of the frustum), in the order Near, Far, Left, Top, Right, Bottom:
https://github.com/godotengine/godot/blob/master/core/math/camera_matrix.cpp#L305
Plane is documented here:
https://docs.godotengine.org/en/3.1/classes/class_plane.html
Hope that helps.