It appears that radio scanners of the type you mention are legal in most, but not all states. Even where it is not illegal, their use is regulated. Thus, for example, journalists use such devices to enable them to cover breaking stories.

It is in all cases illegal (except presumably for law-enforcement with a warrant) to use scanners to intercept cell-phone calls, cordless phone calls, encrypted or scrambled transmissions, etc. For more complete information check out http://www.police-scanner.info/scanning/police-scanner-laws.htm which has a brief explanation, and several useful links.

One very useful link provided in the above site is http://www.afn.org/~afn09444/scanlaws/ which includes actual texts of laws at both federal and state levels. This site also has a page specifying in which states it is illegal or requires special permits - http://www.afn.org/~afn09444/scanlaws/scanner5.html.

For example, in Florida, the use of mobile scanners mounted in a vehicle is illegal with a few exceptions (e.g. member of the press while on assignment). Apparently this does not apply to hand-held scanners not connected to the car's power source nor mounted to it.

There are other states, such as Indiana and Kentucky (plus others mentioned there) where it is illegal for most people.

If you wish to read about radar detectors, as opposed to radio scanners, that's also addressed in the afn.org site. At this time they are legal for passenger vehicles in most states (but not e.g. in Virginia or D.C.). This does not apply to commercial vehicles, which are not allowed to use them.
Source(s):
http://www.police-scanner.info/scanning/police-scanner-laws.htm
http://www.afn.org/~afn09444/scanlaws/

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