You can use the Stack Exchange Data ExplorerStack Exchange Data Explorer to queryquery the votes table:
select creationdate
, sum(case when votetypeid = 1 then 1 else 0 end) accept
, sum(case when votetypeid = 2 then 1 else 0 end) upvote
, sum(case when votetypeid = 3 then 1 else 0 end) downvote
from votes
where postid = ##postid##
group by creationdate
order by creationdate
You'll notice that you'll only get dates for the votes, not the exact time the vote was casted. This is done to ensure anonymity of voting
Keep in mind this data is refreshed weekly on sunday.