"Closed form" is not really a well-defined concept, and in fact I would call $\dfrac12+\dfrac12 {{\rm erf}\left(x\sqrt {2}/2\right)}$ a closed form. Basically the question is whether it can be expressed as a finite expression using "well-known" functions. I would say erf is a well-known function, but others might disagree.
What is true is that the normal cdf is not an elementary function. An elementary function is built up from constants and the variable $x$ using a finite number of the following steps:
- the arithmetic operations +-*/
- exponentials
- logarithms
- root of a polynomial whose coefficients are elementary functions
Note that the usual trig and inverse trig functions are included, since they can be expressed by (complex) exponentials and logarithms.