Hewlett-Packard develops HP Linux Imaging & Printing (HPLIP) software that includes a driver, a driver installer, and a toolbox for setup and configuring HP printers and All-in-Ones. The software supplies support for over 1,500 HP products, and works with nearly any Linux distribution on the market today.
Hewlett-Packard currently does not distribute HPLIP in printer boxes, nor is there Linux information in the printer documentation. However, all major Linux distributions regularly integrate HPLIP into their software releases. The latest HPLIP software resides on Sourceforge.net
Sourceforge.net is the official Web site for Open Source project development. The Web site acts as a repository for Open Source code, and provides tools for facilitating and managing the interactive nature of public code development. Sourceforge.net also acts as the most common noncommercial distribution point for Open Source software.
The HP Linux Imaging and Printing web site walks you through choosing the correct installer, then gives you the opportunity to download it. I followed the supplied instructions, which was simply
The process worked flawlessly for me.
Do note that it states that SELinux must be disabled for the print drivers to work.
UPDATE FOR CENTOS 5.4
Today (5 February 2010) I tried installing this on a new CentOS 5.4 installation, and this no longer works. Fortunately Abbas already figured this out. His solution is here. The summary is that before installing the RPM, you need to remove two dependencies:
sudo rpm -ev --nodeps libsane-hpaio hpijs sudo rpm -Uvh hplip-3.9.10_rhel-5.0.i386.rpm sudo /sbin/reboot
After plugging in the printer to the USB port, I was able to add the new printer without a problem.
Thank you, Abbas!