This is not true. Most quickly accessible ATMs in e.g. Berlin charge a fee. I spent €€€ on ATM withdrawals yearly.
When I withdraw money with my Belgian debit card in the Eurozone at any ATM (including Berlin), I do not pay any fee. And this is true for all major Belgian banks.
Of course, if your account is not in the Eurozone (US?) or denominated in EUR, or through a basic credit card (visa) then usually a fee would apply.