Have you seen this FAQ?
http://code.google.com/apis/maps/faq.html
Within that FAQ there is this item:
"Can I use the Google Maps API on a commercial website?
As long as your site is generally accessible to consumers without
charge, you may use the Google Maps API. For example, if your website
is supported by advertising, it likely falls within the Google Maps
API Terms of Service. If you charge people to place information on
your map (e.g. to list their homes for sale), but you display this
information using the Google Maps API on a free part of your site,
you'll also meet the Google Maps API Terms of Service.
However, not all commercial uses are allowed. For example, if your
site meets any of the following criteria you must purchase the
appropriate Google Maps API Premier license:
Your site is only available to paying customers.
Your site is only accessible within your company or on your
intranet.
Your application relates to enterprise dispatch, fleet
management, business asset tracking, or similar applications.
Remember, Google reserves the right to suspend or terminate your
use of the Google Maps API at any time, so please ensure that you read
the Terms of Service carefully."
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