lsusb # Bus 001 Device 009: ID 050d:705c Belkin Components ...
lsusb -t # tree with drivers and negotiated speed (480M = USB 2, 5000M = USB 3)
lsusb -v -d 050d:705c # full descriptors of one device by vendor:product ID
The vendor:product ID is what udev rules and driver searches use. lsusb -t shows the driver bound to each interface and whether a fast device landed on a slow port. Comes with usbutils. Related: lspci, dmesg -w while plugging a device in.