Some cards offer annual fees in exchange for a lower APR.
If you have good credit and your payments have been on time, call up your creditor and let them know you would like them to reduce your annual fee.
This strategy often works; remember credit card companies only make money if you have a balance with them, and they want to keep you happy.
If your creditor is not willing to remove the annual fee, you always have the option of finding another creditor who can offer a deal closer to what you are looking for.