USB Host support was added in Honeycomb 3.1.x. Any HC, ICS, or JB release that followed that should support it.
I haven't tried USB host functionality on my ICS phone yet but I imagine the same applies.
Side Note: The drivers for wired XBox360 controllers were also included when they added the USB host support. Android Tablet + SNES Emulator + Xbox Controller = FUN!
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