Like the other commenter, I've never had this happen. If I tipped way below what other customers tip, I would like to be told politely and then make a choice about whether I was going to tip more, but I think even that would be frowned upon by business owners or managers. Usually, if I'm not sure (such as a service I rarely use), I will ask somebody what a typical tip looks like. A good example is a buck a bag for bell staff at a hotel - or $5 a bag for Skycaps, if you would like them to ignore the weight of your bag ;)
I tip 15-20%, have lived in the States and Canada my whole life, and this has never happened to me.
Just adding that to provide perspective of how common this is, for readers outside of North America.
This happened to me once in NY at a fairly nice place. The waitress came back and asked what was wrong with the service, when we were really just a group of stingy Europeans.
I am American. I grew up pretty poor and we didn't go out to eat when I was a kid. When I was about 15 I went to a diner. My uncultured friends and I didn't leave a tip, not because we didn't want to, we legitimately just forgot to leave a tip. I would never forget now since 1) I pay by card and they have a tip line and 2) I am used to eating out now. The waitress followed us outside to the parking lot demanding a tip, it was awfully hostile.