All voting in Congress is a matter of public record. However, not all floor votes are roll call votes. There are voice votes (“aye” or “no”) and division or standing votes (where the presiding officer counts Members), and these types of votes do not indicate by name how a member voted.
Senate.gov
Senate roll call vote tallies are posted online within an hour of the vote. You can view today's votes or use the vote tables to look at any roll call vote taken since the 101st Congress (1989). In addition to vote tallies, the entries also provide brief descriptions of the votes and links to Congress.gov for the texts of the legislation.
House.gov
House roll call vote tallies are posted online directly following the vote. You can view votes from this Congress or use the archives to look at any roll call vote taken since the 101st Congress, 2nd session (1990). In addition to vote tallies, the entries provide brief descriptions of the votes.
Congress.gov
Congress.gov provides Senate recorded floor votes going back to the 101st Congress (1989-90) and House recorded floor votes going back to the second session of the 101st Congress (1990). To access votes using Congress.gov search for a bill and click on the "Actions" tab. All House and Senate roll call votes will be listed with links to the House and Senate's web pages.
Congressional Record
The Congressional Record is the official source of information on recorded floor votes. Votes are printed in the daily Record as they occur on the floor. The votes provide an alphabetical listing of members under “yea,” “nay,” and “not voting” categories and show the overall tally for each category. However, votes are not identified by party or by state. The Daily Digest section that is printed at the end of each Record shows how many roll call votes were taken that day and show on what page in the Record the votes can be found. The Congressional Record Index provides subject access to the votes (under “Votes in Senate” and “Votes in House.”)
