I find it very annoying too. No so much the vibration but especially not being able to dial fast. I don't think there is a way to turn it off. However, if you turn off the touch tones you will notice that although it vibrates, there's not delay in the dialing. Go to Settings>Sound & Display>Audible touch tones and set it to "off". It seems to work for me (Droid Incredible). If there's a way to turn the vibration off please let me know.
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