OK, do you want me to do song-by song? Cause here it is:
If only one name is listed after a song, they sang the whole song.
PIPER AT THE GATES OF DAWN (1967)
1. Astronomy Domine - Syd Barrett
2. Lucifer Sam - Syd Barrett
3. Matilda Mother - Rick Wright (Syd Barrett last verse only)
4. Flaming - Syd Barrett
5. Pow R Toc H - NONE (Instrumental)
6. Take Up Thy Stethoscope and Walk - Roger Waters
7. Interstellar Overdrive - NONE (Instrumental)
8. The Gnome - Syd Barrett
9. Chapter 24 - Syd Barrett
10. The Scarecrow - Syd Barrett
11. Bike - Syd Barrett
A SAUCERFUL OF SECRETS (1968)
1. Let There Be More Light - Dave Gilmour
2. Remember a Day - Rick Wright
3. Set the Controls for the Heart of the Sun - Roger Waters
4. Corporal Clegg - Dave Gilmour (although Syd Barrett has a couple lines)
5. A Saucerful of Secrets - Dave Gilmour
6. See Saw - Rick Wright
7. Jugband Blues - Syd Barrett
MUSIC FROM THE FILM MORE (1969)
1. Cirrus Minor - Roger Waters
2. The Nile Song - Dave Gilmour
3. Crying Song - Dave Gilmour & Rick Wright
4. Up the Khyber - NONE (Instrumental)
5. Green is the Colour - Dave Gilmour
6. Cymbaline - Dave Gilmour (Roger Waters sings the film version)
7. Party Sequence - NONE (Instrumental)
8. Main Theme - NONE (Instrumental)
9. Ibiza Bar - Dave Gilmour
10. More Blues - NONE (Instrumental)
11. Quicksilver - NONE (Instrumental)
12. A Spanish Piece - No singing, but Dave Gilmour does the speaking part (he has a Mexican accent, it's hilarious!!
)
13. Dramatic Theme - NONE (Instrumental)
UMMAGUMMA (1969)
Live Side
1. Astronomy Domine - Dave Gilmour & Rick Wright
2. Careful With That Axe, Eugene - Roger Waters
3. Set the Controls for the Heart of the Sun - Roger Waters
4. A Saucerful of Secrets - Dave Gilmour
Studio Side
1-4. Sysyphus Parts 1-4 - Rick Wright (Part 4 only)
5. Grantchester Meadows - Roger Waters
6. Several Species of Small Furry Animals Gathered in a Cave and Grooving With a Pict - Roger Waters (speaking part)
7-9. The Narrow Way Parts 1-3 - Dave Gilmour (Part 3 only)
10-12. The Grand Vizier's Garden Party Parts 1-3 - NONE (Instrumental)
ZABRISKIE POINT (1970)
1. Heart Beat, Pig Meat - NONE (Instrumental)
2. Crumbling Land - Dave Gilmour
3. Come in Number 51, Your Time is Up - Roger Waters
ATOM HEART MOTHER (1970)
1. Atom Heart Mother Suite - NONE (Instrumental)
2. If - Roger Waters
3. Summer '68 - Rick Wright
4. Fat Old Sun - Dave Gilmour
5. Alan's Psychedelic Breakfast - Alan the Roadie
RELICS (1971)
I will only do the previously unreleased songs from Relics, all the others can be found on previous albums.
3. See Emily Play - Syd Barrett
5. Paintbox - Rick Wright
6. Julia Dream - Dave Gilmour
10. Biding My Time - Roger Waters
MEDDLE (1971)
1. One of These Days - Nick Mason (speaking part)
2. A Pillow of Winds - Dave Gilmour
3. Fearless - Dave Gilmour
4. San Tropez - Roger Waters
5. Seamus - Dave Gilmour
6. Echoes - Dave Gilmour & Rick Wright
OBSCURED BY CLOUDS (1972)
1. Obscured by Clouds - NONE (Instrumental)
2. When You're In - NONE (Instrumental)
3. Burning Bridges - Dave Gilmour & Rick Wright
4. The Gold It's In The... - Dave Gilmour & Rick Wright
5. Wot's...Uh the Deal - Dave Gilmour
6. Mudmen - Rick Wright
7. Childhood's End - Dave Gilmour
8. Free Four - Roger Waters
9. Stay - Rick Wright & Roger Waters
10. Absolutely Curtains - NONE (Movie sounds only from the film La Valle?)
THE DARK SIDE OF THE MOON (1973)
1. Speak to Me - NONE (Instrumental)
2. Breathe (In the Air) - Dave Gilmour
3. On The Run - NONE (Instrumental)
4. Time - Dave Gilmour & Rick Wright
4b. Breathe Reprise - Dave Gilmour
5. The Great Gig in the Sky - Clare Torry
6. Money - Dave Gilmour
7. Us and Them - Roger Waters, Dave Gilmour & Rick Wright
8. Any Colour You Like - NONE (Instrumental)
9. Brain Damage - Roger Waters
10. Eclipse - Roger Waters
WISH YOU WERE HERE (1975)
1. Shine On You Crazy Diamond (Pts. 1-5) - Roger Waters
2. Welcome to the Machine - Roger Waters & Dave Gilmour
3. Have a Cigar - Roy Harper
4. Wish You Were Here - Dave Gilmour
5. Shine On You Crazy Diamond (Pts. 6-9) - Roger Waters
ANIMALS (1977)
1. Pigs on the Wing (Pt. 1) - Roger Waters
2. Dogs - Dave Gilmour & Roger Waters
3. Pigs (Three Different Ones) - Roger Waters
4. Sheep - Roger Waters
5. Pigs on the Wing (Pt. 2) - Roger Waters
THE WALL (1979)
1. In The Flesh? - Roger Waters
2. The Thin Ice - Dave Gilmour & Roger Waters
3. Another Brick in the Wall (Pt. 1) - Roger Waters
4. The Happiest Days of Our Lives - Roger Waters
5. Another Brick in the Wall (Pt. 2) - Roger Waters, Dave Gilmour, & kids from Islington Green School, London
6. Mother - Roger Waters & Dave Gilmour
7. Goodbye Blue Sky - Dave Gilmour & Roger Waters
8. Empty Spaces - Roger Waters
9. Young Lust - Dave Gilmour
10. One of My Turns - Roger Waters
11. Don't Leave Me Now - Roger Waters
12. Another Brick in the Wall (Pt. 3) - Roger Waters
13. Goodbye Cruel World - Roger Waters
14. Hey You - Dave Gilmour & Roger Waters
15. Is There Anybody Out There? - Roger Waters
16. Nobody Home - Roger Waters
17. Vera - Roger Waters
18. Bring the Boys Back Home - Roger Waters
19. Comfortably Numb - Roger Waters & Dave Gilmour
20. The Show Must Go On - Dave Gilmour
21. In The Flesh - Roger Waters
22. Run Like Hell - Roger Waters & Dave Gilmour
23. Waiting For The Worms - Dave Gilmour & Roger Waters
24. Stop - Roger Waters
25. The Trial - Roger Waters
26. Outside the Wall - Roger Waters
THE FINAL CUT (1983)
1. The Post-War Dream - Roger Waters
2. Your Possible Pasts - Roger Waters
3. One of the Few - Roger Waters
4. The Hero's Return - Roger Waters
5. The Gunner's Dream - Roger Waters
6. Paranoid Eyes - Roger Waters
7. Get Your Filthy Hands Off My Desert - Roger Waters
8. The Fletcher Memorial Home - Roger Waters
9. Southampton Dock - Roger Waters
10. The Final Cut - Roger Waters
11. Not Now John - Dave Gilmour & Roger Waters
12. Two Suns in the Sunset - Roger Waters
A MOMENTARY LAPSE OF REASON (1987)
1. Signs of Life - NONE (Instrumental)
2. Learning to Fly - Dave Gilmour
3. The Dogs of War - Dave Gilmour
4. One Slip - Dave Gilmour
5. On the Turning Away - Dave Gilmour
6a. Yet Another Movie - NONE (Instrumental)
6b. Round and Around - Dave Gilmour
7. A New Machine (Pt. 1) - Dave Gilmour
8. Terminal Frost - NONE (Instrumental)
9. A New Machine (Pt. 2) - Dave Gilmour
10. Sorrow - Dave Gilmour
THE DIVISION BELL
1. Cluster One - NONE (Instrumental)
2. What Do You Want From Me? - Dave Gilmour
3. Poles Apart - Dave Gilmour
4. Marooned - NONE (Instrumental)
5. A Great Day For Freedom - Dave Gilmour
6. Wearing the Inside Out - Rick Wright
7. Take it Back - Dave Gilmour
8. Coming Back to Life - Dave Gilmour
9. Keep Talking - Stephen Hawking & Dave Gilmour
10. Lost for Words - Dave Gilmour
11. High Hopes - Dave Gilmour
Hopefully that answers your question, it took me about 45 minutes to compile totally. I can get into specifics about who sang which line and which verse and which chorus if you really want me to, but please don't want me to.
Oh, and Mirrorball Man is spot on about Comfortably Numb.
I am the guru.