For Ubuntu 12.04, 11.10 and 11.04, you can install android-tools using the main WebUpd8 PPA:
sudo add-apt-repository ppa:nilarimogard/webupd8
sudo apt-get update
sudo apt-get install android-tools-adb android-tools-fastboot
Once installed, run "adb" and "fastboot" in a terminal to see the available options and how to use these Android tools.