Hi!
There's no matrix published anywhere that I'm familiar with. However, in looking that Vault's tests for the Consul storage backend, it looks like they're often run against a Docker version of Consul. The Docker version used for testing is generally the latest version of Consul at the time of the test.
This means that, generally speaking, if you tend to use the version of Consul that was out at the time of the release date for the Vault version you're using, you'll probably be fine.
-Becca