According to the FAQ for Google Maps
http://code.google.com/apis/maps/iphone/terms.html
7.2 Service License. Google gives you a personal, worldwide, royalty-free, non-assignable and non-exclusive license to use the Service as provided by Google, in the manner permitted by the Terms.
7.3 Content License. Google gives you a personal, worldwide, royalty-free, non-assignable and non-exclusive license to access, use, publicly perform and publicly display the Content in your Maps API Implementation, as the Content is provided in the Service, and in the manner permitted by the Terms. Specifically, you understand the following: