The answer really depends on how the bank has disclosed how it will assess overdraft fees. It is not unlawful to charge an overdraft fee based on an authorization hold placed against an insufficient balance, but not all banks do so.
If your bank can point to how it has disclosed to you that it may charge overdraft fees based on authorization holds, you are probably stuck paying the fee (although you could ask an understanding representative for a refund as a first-time offender). If the bank cannot point to such a disclosure, I think you have a strong case for requesting a refund.
The lesson here is to check your available balance online or on the phone before using your debit card, and avoid spending money that isn't in your account before shopping.