After following the suggestions in this thread (restarting iPhone, cleaning Xcode project, quitting and re-launching Xcode) and others (setting Team to None then back to my Team) and unplugging and replugging Lightning connector from my iPhone 6 I was still experiencing this problem. Xcode would even display an error that my iPhone 6 was locked, even though it was not.
I was able to fix it by unplugging the USB-A connector of the USB to Lightning cable from my MacBook Pro, then plugging it back in. I'm not sure why that made the difference, but glad that it did resolve this annoying problem.