You are looking for the /exchangeInfo public endpoint.
See more at https://github.com/binance-exchange/binance-official-api-docs/blob/master/rest-api.md :
Exchange information
GET /api/v1/exchangeInfo
Current exchange trading rules and symbol information
Resulting symbols array of all coin pairs:
...
"symbols": [{
"symbol": "ETHBTC",
"status": "TRADING",
"baseAsset": "ETH",
"baseAssetPrecision": 8,
"quoteAsset": "BTC",
"quotePrecision": 8,
"orderTypes": [
// These are defined in the `ENUM definitions` section under `Order types (orderTypes)`.
// All orderTypes are optional.
],
"icebergAllowed": false,
"filters": [
// There are defined in the `Filters` section.
// All filters are optional.
]
}]
...