One of the things that I find helps me a lot with soreness from a tough workout is using a foam roller. Foam roller exercises provide the same benefits as a sports massage for quite a bit less. You can find them in most gyms and you can buy a similar one to the one I have for about $20 at Target or Walmart.
Below is an article with some exercises the thing you have to remember is the most of these exercises will hurt a bit, again they are similar to a deep tissue massage which helps to promote blood flow and helps to reduce lactic acid levels. But you have to put a fair amount of pressure on the target muscle to get the benefits which can be a bit painful, but these exercises really do help to reduce soreness.