Treasury bond price history is usually proprietary (Tradeweb, Bloomberg, CRSP), but yield history is published.
For example:
http://www.federalreserve.gov/pubs/feds/2006/
Number 2006-28: The U.S. Treasury Yield Curve: 1961 to the Present. Refet S. Gurkaynak, Brian Sack, and Jonathan H. Wright. This is accompanied by a history of yields and the parameters of a fitted smooth curve model.
Another free source of yields and other data is the Federal Reserve H.15 publication. http://www.federalreserve.gov/releases/h15/update/
Yahoo Finance currently displays treasury bond prices from ValuBond. http://bonds.yahoo.com/ But these are crap – you can easily verify the yields are out of date.
FINRA offers corporate and treasury bond prices through a web interface. I looked at a couple treasury prices and they appear to be 2 days old. http://cxa.marketwatch.com/finra/MarketData/
(The FINRA yield summary seems up to date for on the run issues – different from the H.15 which is constant maturity.)
For corporate bonds, TRACE is your friend. Go here: http://cxa.marketwatch.com/finra/BondCenter/TraceDownloads.aspx