Yes, glib is a pretty good choice: it includes a lot of utilities for manipulating containers like linked lists, arrays, hash tables, etc. And there is also an object-oriented framework called GObject that you can use to make objects with signals and slots in C (albeit with rather verbose function call names like gobject_set_property, since C doesn’t have any syntax for objects). And there is also code for main loops so you can write event-driven programs.
For more info see wikipedia: https://en.wikipedia.org/wiki/GLib
Glib was originally part of GTK, but the non-GUI code has been completely factored out so that you can use it in command-line programs: http://library.gnome.org/devel/glib/stable/