I usually stay at top of the range hotels and there is no way I'll tip a maid for normal cleaning when I pay over $400.- a night. If I request a special service yes, I will tip but otherwise forget it. I am no miser, it is a question of principles. When a hotel boasts a certain service and charges very handsomely for it, I'll accept no additional "costs".
There is one thing I do, though. I sometimes ask at reception what the maid salaries are. They usually don't know and refer me to the manager. If they gve me the answer and the wage is low, I ask quite shamelessly why their prices are so high if their personal costs are so low... I sometimes get a rebate on the room as a response.

I'll then tip the maid accordingly.