http://www.teslamotors.com/blog/transforming-automotive-service
NORTH AMERICAN SERVICE PRICING In North America, a one-year (or 12,500-mile) service plan costs $600. This price covers your annual inspection and all wear and tear parts, excluding tires. This plan is paid for at the time of your annual (or 12,500-mile) inspection.
A pre-paid four-year service plan is available for $1,900 and includes four annual inspections up to 50,000 miles. This plan is paid for within 30 days after delivery of your Model S.
If you're interested in having a Tesla Ranger come to your home or office to provide service, there will be an additional flat fee of $100 per visit. We’ve had Tesla Rangers on the road since we first started delivering Roadsters and the response from customers has been incredibly positive. We’ve revised our pricing such that Ranger Service for Model S and Roadster is now a $100 flat fee per visit, regardless of how far away you live from a Tesla Service Center.
We know sometimes it’s nice to have Ranger Service and sometimes it’s nice to visit a Service Center, so we are also offering a four-year Anywhere Plan that combines Tesla Service and unlimited Ranger Service for four years or 50,000 miles for $2,400. We’ve just launched a new
service webpage that goes into greater detail about service pricing and options.
The "service webpage" link above also has program pricing.