I think the most popular framework for MATLAB is xUnit Test Framework available on File Exchange. Very flexible and well documented.
Some other unit-testing tools are listed here and here.
Another very recent and interesting File Exchange submission is Doctest. Not exactly unit-testing framework though, it works like doctest in Python. I haven't tried it yet, but looks very promising for simple tests embedded into function's help.
mlUnit. As far as I know, the only MATLAB unit test framework that:
Also, mlUnit works on older MATLAB versions, e.g. R2006b and probably older. You define your test cases in test suites. A test suite is a MATLAB function file, a test case is a subfunction in that file.
Use the newest 1.6.x version. The 2.0 beta migrated an older version to MATLAB's classdef for implementation, but has not been maintained since. If you run into problems, there's an issue tracking system, because mlUnit is maintained at sourceforge.net.