Bank of America is going to charge customers a $5 monthly debit card fee starting early 2012. The fee is only charged if you use the debit card for purchase in a given month. There is no fee if you use the debit card at ATM.
Wells Fargo and Chase have been testing $3 montly fee in certain areas.
For US Bank, I think so far debit card has no fee, but who knows, it might change in the future if all banks are charging fees for using debit card.