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Each of the client APIs for the action clients has a cancel method. The full API documentation can be accessed through the Code API link on the main wiki page.

In the python action client, send_goal returns ClientGoalHandle which can be used to cancel the goal: http://docs.ros.org/jade/api/actionlib/html/classactionlib_1_1action__client_1_1ActionClient.html#abcec1f2a881b3c41ea977da9812c313e

In the C++ action client, sendGoal returns a GoalHandle with a cancel method: http://docs.ros.org/jade/api/actionlib/html/classactionlib_1_1ActionClient.html

On the python simple action client, there is a cancel_goal method: http://docs.ros.org/jade/api/actionlib/html/classactionlib_1_1simple__action__client_1_1SimpleActionClient.html

On the C++ SimpleActionClient, there is a cancelGoal method: http://docs.ros.org/jade/api/actionlib/html/classactionlib_1_1SimpleActionClient.html