Hdfc Bank indirapuram - Amount got deducted from saving account without customer consent and without any notification

I was told that my HDFC credit card is free of cost card , but i was charged **** rupees in my credit card bill as annual charges.I have paid all my other dues except annual charges and request bank to close my card.I have completed all the formalities to close my card and my crad got closed.
But after that they have deducted this amount from my HDFC saving account without my consent and without any notification which is clearly violation of customer rights.
I try to contact them but didn't get succeeded .I want reversal of my deducted amount.in such way I can not trust HDFC bank , they can not touch my aving account without my consent.