Is there anyway to tell from the browser history what time a site was accessed?

For Internet Explorer:
Press CTRL+SHIFT+H to bring up the History menu. Then open up the day and list of pages you want to see. Then Right Click on the page name in history, and select properties, you can see the time the page was last accessed.

For Firefox:
On the Menu Bar click History > Show all History
Pick the day you want to view.
Then Click “Views”, Show Columns> select “Visit Date”. You can now see each time a page was accessed.