We've all heard various minimums-0.5%, 1%, even 2%, but it all depends on what is the proposed use, climate, size, & other variables, and what are the consequences of surface toleranes, or movement over fime (e.g. rutting and frost heave).
Minimum slope can be 0% - for certain small areas, that can stand to have a little standing water on it after a rain. 0% is "constructible", since floor slab contractors routinely construct level and smooth concrete. Aircraft aprons are required by FAA criteria to be 1% maximum. I've seen large areas paved (asphalt) to 1%, and large concrete hardstands at 1% and less, without any obvious problems. Of course more care needs to be taken to achieve that with minimal birdbaths.
If a slope which promotes rapid runoff isn't possible, other methods could be used to prevent excessive ponding during rainfall, such as trench drains.