Determine your device id

1. Unplug your device from the computer and type lsusb in the terminal. You should get an output similar to this:

Bus 002 Device 002: ID 8087:8000 Intel Corp. 
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 002: ID 8087:8008 Intel Corp. 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 005: ID 0bda:0129 Realtek Semiconductor Corp. RTS5129 Card Reader Controller
Bus 003 Device 033: ID 0cf3:3004 Atheros Communications, Inc. AR3012 Bluetooth 4.0
Bus 003 Device 047: ID 045e:07fd Microsoft Corp. Nano Transceiver 1.1
Bus 003 Device 002: ID 174f:148d Syntek 
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

2. Now plug your phone into the computer and run the command again, the output should be different:

Bus 002 Device 002: ID 8087:8000 Intel Corp. 
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 002: ID 8087:8008 Intel Corp. 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 005: ID 0bda:0129 Realtek Semiconductor Corp. RTS5129 Card Reader Controller
Bus 003 Device 033: ID 0cf3:3004 Atheros Communications, Inc. AR3012 Bluetooth 4.0
Bus 003 Device 047: ID 045e:07fd Microsoft Corp. Nano Transceiver 1.1
Bus 003 Device 002: ID 174f:148d Syntek 
Bus 003 Device 060: ID 05c6:6765 Qualcomm, Inc. 
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

3. Take a note of the new output ID. For me it's Bus 003 Device 060: ID 05c6:6765 Qualcomm, Inc.

4. The value we are interested in is the first one before the colon (:); in this case 05c6. You can check that the value you get is the same as the ones listed here

Note

On Arch Linux, it might be enough to install android-udev package, so you can skip the below steps. See ArchWiki#Adding udev rules

Some code

1. Use your favourite text editor to edit the file: /etc/udev/rules.d/51-android.rules

2. In the new file, enter the following:

# Phone name
SUBSYSTEM=="usb", ATTR{idVendor}=="id_you_copied", MODE="0666", GROUP="plugdev"

3. Make sure to replace id_you_copied with the one we determined from the previous section

4. Save and close the file.

5. Now in the terminal, run the following commands

sudo chmod a+r /etc/udev/rules.d/51-android.rules
sudo systemctl restart udev

The first command is to make the file we created readable by all users (should be unless you've set a umask of 0027 or 0077) and the second command restarts the udev (usb device) manager, via systemd.

6. Now you can try the command fastboot -l devices and it should successfully list your device as one of the entries