Google "DOMS" - delayed onset muscle soreness. According to
EXAMINE.COM:
Non-steroidal Anti-inflammatory agents (NSAIDs) like Aspirin (Acetylsalicyclic acid) or Ibuprofen (Advil) can reduce future DOMS when taken at around the time of exercise.[7][8]Some light exercise, or moving the affected joints and muscles, can also alleviate DOMS.[8][9] This may be due to merely moving the affected muscles, as 'whole-body vibration therapy' has recently been suggested to do similar.[10][11]
Cryotherapy, or ice water submerging, has beneficial anecdotes by various athletes but has not been shown to be of much benefit in randomized controlled trials.[12][13] That being said, cryotherapy may hold some potential in cases of muscular trauma such as hamstring tears or intense muscular strains.[14][15][16] Cryotherapy's effectiveness may be closely tied in to the degree of muscular damage, and serve as a bridge between such anecdotes in high level athletes and a lack of results in novice trainees in intervention studies.[17]
Athletic massage after exercise may also be effective in controlling DOMS[18], possibly via reducing how many neutrophils get to the site to induce soreness.[1]
Proper pre-workout nutrition can also play a role in preventing DOMS, as Branched Chain Amino Acids supplementation has been shown to be beneficial[19] (and can be consumed through Whey Protein or protein-containing foods)
Stretching (static) before or after exercise is not significantly effective in reducing DOMS from exercise.[20]
Citrulline and
L-Carnitine have also shown some promise.
I like examine because they're no-hype, not selling anything, and link to studies.