Based on https://github.com/trezor/trezor-firmware/blob/68a3094b0a8e36b588b1bcb58c34a2c9eafc0dca/common/udev/51-trezor.rules: 

# Trezor (One and T models)
notify 100 {
	match "system"		"USB";
	match "subsystem"	"DEVICE";
	match "type"		"ATTACH";
	match "vendor"		"(0x534c|0x1209)";
	match "product"		"(0x0001|0x53c0|0x53c1)";
	action "chgrp u2f /dev/$cdev; chmod g+rw /dev/$cdev";
};

attach 100 {
	match "vendor"		"(0x534c|0x1209)";
	match "product"		"(0x0001|0x53c0|0x53c1)";
	action "chgrp u2f /dev/$device-name; chmod g+rw /dev/$device-name";
};