You could do worse that Config::Tiny. Its INI file format, which is familiar to many, pure perl, and very short. So you include it in the distribution, or copy/paste it in.
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The OP specified he needed complex data structures, which Config::Tiny does not support. (I like it too though!)
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Its not really clear how much is needed: "assign values to arrays and hashes" covers a wide range. INI does not get you very far, of course, and I often have comma separated values on one line. But the code is nice if the OP just needs something to work from.
On the question of 'additional modules', what you've tried to explain above is true. If you are distributing a script, there is really no difference to distributing it with the addition of another pure perl file that just happens to be a CPAN module rather than one you've written yourself. You can even inline it in the main script if just having one file eases people's concerns.
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