Generally, if the transcripts are filed with the court, they will be public records. However, while the trial was probably "taken down" by a stenographer, there may not be an transcript of the testimony if none of the parties appealed. Local practice may vary a great deal. Depending on the nature of the trial and issues, some testimony may be sealed.
The easiest way to find out would be to contact the clerk of the court and simply ask.
If you have legal rights that depend on the testimony or other aspects of a trial, you should consult with an attorney to be sure that those rights are not somehow lost. Do not rely on comments made in this forum as legal advice.