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I think every baby is different and only mama knows best. You can distinguish your baby's cries and know when they really need you, or when they are just testing or upset because they are not getting thier way.
But generally around 8 mos. Maybe as early as 6 mos for some babies.
Ditto what Mel said. I think that you have to know your own baby to distinguish where they're coming from. I think Marshall was about 8 or 9 months when we would let him cry a little bit without running in there. We have been really fortunate though because he knows when bed time is and generally has always gone down without much of a fuss.