I doubt if there is any truly vegan or cruelty-free medication.
Oh, there are a number of things you can do to increase the "kindness" factor of medication. Maybe someone here has some more experience and can tell you about it.
I don't worry about it because I take almost no medication. Sort of I'll cross that bridge when i get to it. But I think when I get to that bridge I will firmly close my eyes and run across it.
Modern medicine is almost always tested on animals. And whether or not the animals are killed during testing, they are almost always destroyed after the test. Plus they are all bred and kept in captivity just for that purpose.
If you ever wondered why most of the cruelty-free promoting organizations use the word bunny or pictures of bunnies, its because rabbits are very popular in the animal testing programs. Rats are still more popular but I imagine that Cruelty-free Rat or Rat Free just didn't have the appeal.
I'm not sure what its called... I'll call it Legacy Medicine. That would be un-modern medication. Things like Aspirin and Penicillin. If there were animal testing programs back then - well those animals died a long time ago. I'm not sure we can be held responsible for them. Sins of our fathers or something.
There is also what I guess we have to call the cost-benefit ratio. If you would kill a shark that is about to eat your baby brother, isn't that more ethical than to let him eat your baby brother? How about parasites that have invaded your body? Your home? your cupboard? Taking medicine - even one that has been made by grinding up kittens - to save your life - is still pretty ethical. Think of it this way. You can do a lot more good in the world if you are still alive.
There is something else to consider. How necessary is animal testing? I am very sure that there is a lot of animal testing that is very necessary. But I am also sure that there is some that is not at all necessary. Here in the 21st centrury, there is a lot of awareness in the medical community. But that awareness was sort of forced on them by animal activists. There is not much you can do on your own to shape policy in this area. But IMHO, PETA has an excellent track record in this area. Join PETA, its membership dues are less than $20/year. And besides the satisfaction of feeling like you are doing something, you get a newsletter and a calendar.
Oh, shoot. I just realized that you may have used the word "medication" to include things like supplements. Just look for Vegetarian on the label or use google to find the vegan version. The trickiest one is vitamin D but even that one has lots of vegan alternatives available. oh, and avoid the ones in gelatin capsules unless the word vegetarian is on the label.