Unfortunately yes - most medications are tested on animals.
From what I've seen/heard/read, for drugs to be approved they need to go through numerous drug trials, with most of these trials starting with animals.
It is sad, but the regulations for testing on animals in Australia is not like what we see in the media for testing on animals for things like cosmetics (like the PETA portrayal). Although I can't find the website, there are ethical guidelines for animal testing here that companies have to adhere to by law.
I personally take medication even knowing this, because the benefits far outweigh it. While we can make choices regarding SSRI's and anti-anxiety medication, it's so much harder for things like anti-epileptic medication or antibiotics. I hope to somewhat 'compensate' for it in the other choices I make, like cosmetics.
I hope that whatever you decide, you are able to put yourself first even if it is a conflicted decision.