Authorize a non-admin developer in Xcode / Mac OS

$ dseditgroup -o edit -u <adminusername> -t user -a <developerusername> _developer

You need to add your macOS user name to the _developer group. See the posts in this thread for more information. The following command should do the trick:

sudo dscl . append /Groups/_developer GroupMembership <username>

You should add yourself to the Developer Tools group. The general syntax for adding a user to a group in OS X is as follows:

sudo dscl . append /Groups/<group> GroupMembership <username>

I believe the name for the DevTools group is _developer.

Finally, I was able to get rid of it using DevToolsSecurity -enable on Terminal. Thanks to @joar_at_work!

FYI: I'm on Xcode 4.3, and pressed the disable button when it launched for the first time, don't ask why, just assume my dog made me do it :)