wp_get_post_terms

$taxonomy = 'タクソノミー名';
$terms = wp_get_post_terms( $post->ID, $taxonomy );
if ( $terms && ! is_wp_error( $terms ) ):
  foreach ( $terms as $term ):
    $term_id  = $term->term_id;
    $term_name  = $term->name;
    $term_slug  = $term->slug;
    $term_link = get_term_link( $term_id, $taxonomy );
  endforeach;
endif;