Subject to these Terms, you may develop, display and/or distribute your Maps API Implementation as part of a commercial or non-commercial enterprise.
As of now it is very flexible but the APIs are very very basic ... no direction data etc. Google hasn't changed android maps API since cupcake. However remember that with a 60 day notice, the terms might change and service might include ads and further limits might be imposed. So all fine print do apply here. But one thing we can be sure of is that google isn't going to antagonize android map developers who do basic stuff that don't hog their servers.