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In general for most vegetables you want at least 12 inches deep, for tomatoes and large squash 18 inches deep, for herbs and small flowers 8 inches deep. Longer and wider is always better because the soil stays more evenly moist (up to 8ft long x 4 ft wide for raised beds and 8ft long x 3 ft wide for boxes).
If you're growing plants in large containers, you'll be shocked at how much potting soil you need to fill each container. However, you don't have to fill the whole container with soil. Most vegetable roots penetrate only 10 to 12 inches into the soil. Add more than that and you're simply wasting soil.