Select pay as credit instead of debit when the option appears on the PoS terminal. If that option does not appear then it's likely your bank has set it up so that it will work only as debit via Apple Pay; so your PIN will be required.
It runs the same...exactly the same...as when you swipe it, just that it sends a token and device acct number. So if it would require a pin if you swiped, it still does. McDs doesnt but swiping a debit doesnt either, thats how their system is set up. 99% of the time hitting cancel and selecting credit solves the issue, but apple has no control over the processing side, thats up to processors and banks.