It's actually the current that is important rather than the voltage, but due to the resistance of the body you can't get a dangerous current without there being sufficiently high voltage. You can work this out yourself using ohms law, but the important thing as far as this is concerned is to remember the safety principles.
Generally you are relatively safe dealing with voltages of less than 50V, but anything above that can be dangerous.
You are generally safe from electrocution on most electronic circuits that run off domestic batteries, including 12v car batteries. There may however be batteries in your home that can pose a real danger, such as the output from a UPS (uninterruptible power supply) for a computer, or if you have a home energy system such as solar panels.
Even if you equipment is designed to run at less than the dangerous voltage for electrocution it may still pose a risk of burns, fire or even explosion - so keep reading.