I think it depends on what you fly off of, and how good a flier you are.
On my trike-geared Twister, I have about one inch of clearance from prop tip to ground. Flying off of very short grass, I need to wipe green slime off the prop at the end of the day, but I haven't had problems.
When I had 1/2" of clearance I was chipping prop tips and I nearly murdered my flying buddy with a rock, but I never had a problem on pavement.
I'd probably try for 1" of clearance with the plane level, but I'm sure that folks will weigh in both for more and for less.