Do you have is a better way to ask. Robert, do you have a pen? Robert, do you have your keys? It is more informal, between friends and people you know well to say Robert, have you got a pen or Robert, have you got your keys?

I think , Do you have is asking about something you may OWN or not while Have you got is asking about something you take or receive ! -mt

The first one expresses a state of having ... the latter emphasizes the action of obtaining or getting...

Have u got a cup o' english tea? :P

yeh, essentially there is no difference. Have you got is probably more common in England as steve has said. I would ask my friends "have you got (something)" more often than "do you have". Its just more informal.