Solution

• Create a file named /tmp/android.rules with the following contents (hex vendor numbers were taken from the vendor list page):

  SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0e79", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0502", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0b05", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="413c", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0489", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="091e", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="18d1", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0bb4", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="12d1", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="24e3", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="2116", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0482", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="17ef", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="1004", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="22b8", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0409", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="2080", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0955", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="2257", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="10a9", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="1d4d", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0471", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="04da", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="05c6", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="1f53", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="04e8", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="04dd", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0fce", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="0930", MODE="0666"
  SUBSYSTEM=="usb", ATTRS{idVendor}=="19d2", MODE="0666"

• Run the following commands (without the leading $):

  $ sudo cp /tmp/android.rules /etc/udev/rules.d/51-android.rules
  $ sudo chmod 644   /etc/udev/rules.d/51-android.rules
  $ sudo chown root. /etc/udev/rules.d/51-android.rules
  $ sudo service udev restart
  $ sudo killall adb

• Disconnect the USB cable between the phone and the computer.
• Reconnect the phone.
• Run adb devices to confirm that now it has permission to access the phone.

source: http://ptspts.blogspot.be/2011/10/how-to-fix-adb-no-permissions-error-on.html