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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).
Here are the minimum soil depths for healthy growth. Keep in mind that you can get by with less depth if you use a self-watering planter. 1  4-5 inches: chives, lettuce, radishes, other salad greens, basil, coriander.  6-7 inches: bush beans, garlic, kohlrabi, onions, Asian greens, peas, mint, thyme.