A 3d benchmark based on the Android version of the jPCT 3d engine. Runs 7 tests from fill rate to complex scenes.
A Samsung i7500 with 1.5 scores 2000, a Nexus One with 2.2 around 4900 points.
Also look out for An3DBenchXL in the Android market. It's a similar free benchmark with much more demanding tests for higher end devices.