Nope. "You usually have what for lunch?" is possible, although it sounds somewhat awkward. But in your example, you definitely need the "do".

Use "do" as an auxiliary verb in questions which ask about actions. "What you usually have for lunch?" is understandable, but a broken sentence. It's a very quick way of telling the listener that your English skills are very poor. ;)

The normal form is: WHAT DO YOU USUALLY HAVE FOR LUNCH?" ( *Now, don't pay too much attention to this but...) There is a "fill-in-the-blank", interview style question format in which you might ask: "The time that you usually get up is...?" "What you usually have for lunch is ......?" "What you like to do after work is...?" etc.