CanIUse.com has a searchable list of new features, along with which browsers support them. It's not a definitive reference, but it is a fairly comprehensive list of features, and it does specify which versions use vendor prefixes for each feature.
A more definitive list can be found per browser, within the browser itself. If you open the debugging tool within the browser (eg Firebug, or Chrome's Developer Tools window, etc), you will be able to navigate all the available styles, which will show you at a glance which ones require vendor prefixes.
The way to do it would vary between browsers, but I'd recommend browsing the DOM tree, because each element has a style
node, which you can expand to reveal a full list of available styles.