In the frame of axion electrodynamics a 4×4 transfer matrix method was developed in order to describe the electrodynamic properties of systems containing topological insulators, which are characterized by non trivial topological properties related to time reversal symmetry. Analytical expressions were obtained for the components of the transfer matrix for the interface between a conventional dielectric and a topological insulator, which generalize the relations obtained in conventional electrodynamics for the description of the transmission of TE and TM polarized modes. It was shown that such matrix couples the TE and TM modes, where the terms which are related to such coupling are linear with respect to the fine structure constant. Analytical expressions were obtained for the changes induced by the non trivial topology in the reflection coefficients from TM and TE incident waves and for the rotation of the polarization planes of reflected and transmitted waves.