I finally managed to get cgminer 3.2.1 to work with Debian 7.0 ! 

Her's what I did:
sudo cp cgminer-3.2.1/01-cgminer.rules /etc/udev/rules.d/
sudo service udev restart

Now unplug and plug again the usb erupter.
Restart cgminer and it should work.

cgminer 3.2.1 no longer requires to specify the serial device, nor any icarus timing options. I also read that it should improve the hashing rate compared to 3.1.1.