I think what you are looking for is this: http://codex.wordpress.org/Function_Reference/get_terms
Example of how to get all my_taxonomy
terms and echo them in an unordered list.
$terms = get_terms( "my_taxonomy" );
$count = count( $terms );
if ( $count > 0 ){
echo "<ul>";
foreach ( $terms as $term ) {
echo "<li>$term->name</li>";
}
echo "</ul>";
}