There are multiple options for fee free ATM usage.
My favorite is the Capital One 360 account which includes a no fee MasterCard Debit card. I have used it for over 10 years and have never paid even a penny in ATM fees on my trips to Europe. You can open the account and maintain it over the internet. The account remains open as long as it has a positive balance. The 360 account has no fees for anything. Just make sure you choose the 360 account as many of the other Capital One accounts do have foreign usage fees.
If you don't have a fee free credit card, there are many options out there. Capital One, of course, has some, but just about every card issuing bank offers some no fee cards.
Which ever cards you choose, you will need to make sure to inform your bank about your travels telling them where and when you will be in Europe so they don't cut you off for suspected fraud.
EDIT: This is not a suggestion to abandon your existing bank, only a way to save fees by having an additional account if you feel it is worth the very small effort required to open it (5 minutes online, and you are done, no need to visit any office in person for any of it). One of the good things about the one suggested here is that there is no minimum balance required, you can leave a penny in it and only put money in it and use it when you travel once a year and it will not close.