First, two answer the question asked, yes, the SM permits a massless particle that is not its own antiparticle: that is, an extension with these fields could be introduced without breaking something else. However, there is no such particle. My statement is a bit like saying zoology permits a black giraffe - but there aren't any. No reason you couldn't have one. We just don't.
Second, the statement that neutrinos are massless in the SM is something that one heard a lot more after the discovery that neutrinos have mass than before it. Before it, most people probably thought that the SM meant that neutrinos were Dirac particles like every other fermion, and their right handed components were sterile, just as you would expect. Certainly that's what I thought, and what my professors thought. I don't think anyone would have considered this model non-SM at the time.