In my experience, giant danios can be nippy and they get large. They shouldn't be considered peaceful because of that, but they aren't as territorial as something like a cichlid or as predatory as a catfish or gar. So, they lie in the middle of an "aggressive" and a peaceful fish. I know a lot of people that recommend or use them as dither fish for cichlid tanks because they're quick, large, and not easily stressed.
After working at PetSmart for six years I kind of hate the term "semi-aggressive" as it doesn't really tell you much. Giant Danios would probably be considered that though, but that's because they're VERY active, large, and fairly nippy.