Beside of read.csv(url("...")) you also can use read.table("http://...").
Example:
> sample <- read.table("http://www.ats.ucla.edu/stat/examples/ara/angell.txt")
> sample
V1 V2 V3 V4 V5
1 Rochester 19.0 20.6 15.0 E
2 Syracuse 17.0 15.6 20.2 E
...
43 Atlanta 4.2 70.6 32.6 S
>