-t shows tree output:
$ lsusb -t
/: Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/10p, 5000M
|__ Port 2: Dev 2, If 0, Class=Hub, Driver=hub/1p, 5000M
|__ Port 1: Dev 4, If 0, Class=Hub, Driver=hub/2p, 5000M
This also shows the current speed, so you can see e. g. keyboard and mouse with 12 Mbps.
Use -tv for more verbose output, including class descriptors (vendor):
$ lsusb -tv
/: Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/10p, 5000M
ID 1d6b:0003 Linux Foundation 3.0 root hub
|__ Port 2: Dev 2, If 0, Class=Hub, Driver=hub/1p, 5000M
ID 2109:0817 VIA Labs, Inc.
|__ Port 1: Dev 4, If 0, Class=Hub, Driver=hub/2p, 5000M
ID 2109:0817 VIA Labs, Inc.
...
The verbose flag can be repeated for even more detailed output:
$ lsusb -tvv
/: Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/10p, 5000M
ID 1d6b:0003 Linux Foundation 3.0 root hub
/sys/bus/usb/devices/usb2 /dev/bus/usb/002/001
|__ Port 2: Dev 2, If 0, Class=Hub, Driver=hub/1p, 5000M
ID 2109:0817 VIA Labs, Inc.
/sys/bus/usb/devices/2-2 /dev/bus/usb/002/002
|__ Port 1: Dev 4, If 0, Class=Hub, Driver=hub/2p, 5000M
ID 2109:0817 VIA Labs, Inc.
/sys/bus/usb/devices/2-2.1 /dev/bus/usb/002/004
|__ Port 5: Dev 3, If 0, Class=Hub, Driver=hub/4p, 5000M
ID 0451:8140 Texas Instruments, Inc. TUSB8041 4-Port Hub
/sys/bus/usb/devices/2-5 /dev/bus/usb/002/003
|__ Port 3: Dev 5, If 0, Class=Hub, Driver=hub/4p, 5000M
ID 0451:8140 Texas Instruments, Inc. TUSB8041 4-Port Hub
/sys/bus/usb/devices/2-5.3 /dev/bus/usb/002/00/