Starting from Xcode 7, Apple has changed its policy
regarding permissions required to build and run apps on devices. Before that,
the company required you to pay $99 per year in order to deploy and run your
apps on a physical iPhone or iPad. Now, program membership is no longer required.
Everyone can test their apps on a real device without enrolling into the Apple Developer Program.
Having that said, if you want to try out some advanced
features such as in-app purchase and CloudKit, you still need to apply for the
program membership. Most importantly, you're not able to submit your app to App
Store without paying $99 annually.