You can use java.net.HttpUrlConnection.
Example (from here), with improvements. Included in case of link rot:
public static String executePost(String targetURL, String urlParameters) {
HttpURLConnection connection = null;
try {
//Create connection
URL url = new URL(targetURL);
connection = (HttpURLConnection) url.openConnection();
connection.setRequestMethod("POST");
connection.setRequestProperty("Content-Type",
"application/x-www-form-urlencoded");
connection.setRequestProperty("Content-Length",
Integer.toString(urlParameters.getBytes().length));
connection.setRequestProperty("Content-Language", "en-US");
connection.setUseCaches(false);
connection.setDoOutput(true);
//Send request
DataOutputStream wr = new DataOutputStream (
connection.getOutputStream());
wr.writeBytes(urlParameters);
wr.close();
//Get Response
InputStream is = connection.getInputStream();
BufferedReader rd = new BufferedReader(new InputStreamReader(is));
StringBuilder response = new StringBuilder(); // or StringBuffer if Java version 5+
String line;
while ((line = rd.readLine()) != null) {
response.append(line);
response.append('\r');
}
rd.close();
return response.toString();