XCode 8.3 - How many times can we deploy to an iOS Device with an expired Developer ID?
Source:

You can deploy to your personal devices as many times as you want; there's no restriction on deploys of this type.

You only have to pay the membership fee if you want to use the more advanced features such as TestFlight and the App Store.

Update: 


Here's a list of supported capabilities that require either a free account or paid one.
The provisioning profile is only good for 7 days.  After that you need to generate a new one and deploy it to the device.
Max number of connected devices is limited to 3.