In December 2011, the TSA launched the TSA PreCheck® program, which allows U.S. citizens to expedite security checks at more than 200 airports on U.S. soil. Subscriptions cost $85 and last 5 years, after which you must renew it. Subscribers are exempt from removing their shoes, belts, jackets, computers, and liquids whilst passing through security checkpoints.
In order to enroll in the TSA PreCheck® program, you must be a U.S. citizen or have a legal permanent resident right. Online registration is simple and takes roughly 5 minutes. The second step is a 10-minute face-to-face appointment during which you will be required to submit fingerprints. A "background check" is also carried out during this appointment. Once your program registration has been cleared, you will receive a Known Traveler Number, which you will be able to enter when making airline reservations, thus ensuring fast security clearance.
For the list of airports where the program is available see: https://www.tsa.gov/precheck/map