I was always taught "Volts Jolt, Current Kills" as for an exact figure it is really undefineable. There are many variables that need to be considered, age, body mass, atmospheric conditions, hydration of the body etc etc etc.
The obvious and most sensible advice is, if it is live don't touch it until it is isolated, thou this is not always possible!!
The theoretical medical mathematics suggests that anywhere from 0.05mA is enough to kill someone somewhere it really is down to individual make up, and the period in which contact is made with the source of current. Current will cause the muscle tissues to spasm, the more current the greater the spasm, this is where the risk is greatest for people as we use our hands to work with around electricty a contraction of the arms muscle tissues can be great enough to 'clamp' a person to a conductor even if they know they need to let go!!!
For this reason my father used to carry a large piece of wood that would be held by the person working with the electrician (HV in his case) should such an unfortunate case have occured the instruction was to hit the hand/arm until disattachment occured,, which would probably have meant a broken arm!!
I'm glad I never worked with the old man!!!!!!!!!!!