The Casimir forces between two plates moving parallel to each other at arbitrary constant speed are found by calculating the vacuum electromagnetic stress tensor. The perpendicular force between the plates is modified by the motion but there is no lateral force on the plates. Electromagnetic vacuum fluctuations do not therefore give rise to 'quantum friction' in this case, contrary to previous assertions. The result shows that the Casimir-Polder force on a particle moving at constant speed parallel to a plate also has no lateral component. © IOP Publishing Ltd and Deutsche Physikalische Gesellschaft.