In all my years of programming I've never noticed any performance degradation.
I guess if you're making a really long page with thousands and thousands of elements, you'd see a performance cost. But if I were in that situation, I would be more concerned about why I needed so much content in one page than I would be about how I wrote my style sheet.
In the end, I prefer including the type selector, because I find it easier to read and easier to relate what's styling what, and I think that's more important than a minor milliseconds level performance cost. You are, of course, your own person, so do what's right for you.
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