We did not because there is no medical reason to do it. And I'm not a fan of performing a permanent cosmetic procedure on someone who isn't old enough to make that decision for themselves unless there is a compelling medical reason to do so. (Yes the AAP has changed their stance and they do say there are some medical benefits that outweigh the risk of the procedure but they also state that the evidence is not enough to make them recommend circumcision for all boys.) Also, it can effect sexual pleasure. (Not that I particularly want to think about that aspect with my toddler.)
I just didn't find the argument about STDs and keeping clean to be reason enough to go through with the procedure. DH is not cut and it's very common to skip the procedure in his family. No one has ever had an issue with STDs or cleanliness. It's really not hard to keep it clean and if my kid is having unprotected sex, he's going to have bigger problems than foreskin.
I talked about it with my OB, my midwife and my pediatrician and all three said they were please we decided not to do it and that they wished more of their patients felt the same. That said, I do understand why other people might choose to do it. But it's just not for us.