HTML4: the slash is technically invalid. However, it's accepted by W3C's HTML validator.
XHTML: The slash is REQUIRED.
I recommend to always add the slash. Because, it provides a visual clue of non-closing tags. It's also convenient if you write simples scripts to check your HTML, without a lookup table or using heavy HTML parser.
Ref: http://xahlee.info/js/html5_non-closing_tag.html