Can I run apps on iPhone without paying to be a developer?
You need to make your apps in Xcode 7 to run on your iDevice without any developer program. You need to sign in with your Apple ID. For more details visit the Xcode 7 site. It's in beta 6 now.

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

If you need Xcode 6 or lower, paying the fee is the only alternative.