The page you link to has a compatibility table.
Chrome
1.0 (-webkit prefix)
Firefox
4.0 (2.0) (-moz prefix)
16.0 (16.0) (no prefix)
Internet Explorer
10.0 (no prefix)
Opera
10.5 (-o prefix)
12.0 (no prefix)
Safari
3.2 (-webkit prefix)
There is also an article on MSDN about CSS3 transitions in Internet Explorer.
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