map will flatten native arrays. Therefore, you can write:
$("tr").map(function() { return $(this).children().get(); })
You need to call .get() to return a native array rather than a jQuery object.
This will work on regular objects as well.
var nested = [ [1], [2], [3] ];
var flattened = $(nested).map(function() { return this; });
flattened will equal [1, 2, 3].