I have been using the Web Inspector in Safari (Mac) to debug mobile web apps on my iPhone on iOS 6. After upgrading to iOS 7 my iPhone no longer appears in the 'Develop' menu of Safari on my Mac.
I'm currently using an iPhone 4S, OS X 10.8.5, and the latest Safari.
I have checked that 'Web Inspector' in enabled in Advanced Safari settings on the iPhone. I have also tried restarting the device, Safari, and reconnecting the cable.
WebKit Nightly Builds is an alternative if you don't have access to the download links of Safari 6.1 preview.
http://nightly.webkit.org/
You must install Safari 6.1 for having access to iOS7 devices through WebInspector. Safari 6.1 is available on Apple's developer website.