Apple changed the policy on this earlier this week:

https://developer.apple.com/xcode/

Because I know that you don't love web references, and because the page is pretty graphics, intensive, I've copied the text below:

Now everyone can get their app on their Apple device.
Xcode 7 and Swift now make it easier for everyone to build apps and run them directly on their Apple devices. Simply sign in with your Apple ID, and turn your idea into an app that you can touch on your iPad, iPhone, or Apple Watch. Download Xcode 7 beta and try it yourself today. Program membership is not required.

The account is still needed, but the paid account is not.

~Chad