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Talents start at level 10 (official). One point per level: 51 at level 60 (matches community sources; Blizzard did not state the number).
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Row n needs (n−1)×5 points spent in that tree first, so row 3 opens at point 11, row 4 at 16, row 5 at 21 and row 7 at 31 (official milestones).
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A talent with a prerequisite needs the prerequisite at full rank.
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Talents are changed at a class trainer in a major city; Dual Specialization unlocks at level 40 (official).