Just add \hfill to spread out the figures, which adds a rubber length that is allowed to stretch and shrink horizontally as needed.
The [showframe] option for the geometry pacakge was used to show the placement of the figures and the margins.

\documentclass{article}
\usepackage[showframe]{geometry}
\usepackage[demo]{graphicx}% Remove demo option in real document
\usepackage{caption}
\usepackage{subfig}
\begin{document}
\begin{figure}
\centering
\subfloat[subcaption 1]{\includegraphics[width=0.2\textwidth]{image1}}
\hfill
\subfloat[subcaption 2]{\includegraphics[width=0.2\textwidth]{image2}}
\hfill
\subfloat[subcaption 3]{\includegraphics[width=0.2\textwidth]{image3}}
\caption{\label{fig:trans_actions}
Some caption text here. This is the full textwidth.}
\end{figure}
\end{document}
As Werner pointed out, the above solution aligns the edges of the figures with the margins. If you also want spacing between the figures and margins as well you add \null\hfill on the left, and \hfill\null on the right.

\documentclass{article}
\usepackage[showframe]{geometry}
\usepackage[demo]{graphicx}% Remove demo option in real document
\usepackage{caption}
\usepackage{subfig}
\begin{document}
\begin{figure}
\centering
\null\hfill
\subfloat[subcaption 1]{\includegraphics[width=0.2\textwidth]{image1}}
\hfill
\subfloat[subcaption 2]{\includegraphics[width=0.2\textwidth]{image2}}
\hfill
\subfloat[subcaption 3]{\includegraphics[width=0.2\textwidth]{image3}}
\hfill\null
\caption{\label{fig:trans_actions}
Some caption text here. This is the full textwidth.}
\end{figure}
\end{document}
\documentclassand the appropriate packages so that those trying to help don't have to recreate it. – Peter Grill Nov 25 '11 at 17:39