Answer:
That would depend upon what level you wanted to be at, and what geographical location you chose.
If you wish to be middle class in the Midwest, then $30,000 per year would do it. If you don't mind a lower class lifestyle and foregoing some securities like insurance, savings, cable and such, you could get by on $20,000 per year.
Bear in mind, most people simply live as couples, married or otherwise, and combine incomes to give themselves a somewhat comfortable middle class existence.
Shooting for the top, you could be regarded as "well off" in a midwestern town if you earned $200,000 a year. Anything over $100,000 is regarded very well, but $200,000 would get you right house in the right neighborhood.
To be "rich" in the Midwest requires at least $500,000 a year, preferably $750,000.
Diving for the bottom, it's possible to live for free in the U.S., given extensive shelter availability and government aid programs. This would get you (if single) a cot, and usually two hot meals a day.
If you are a single mother with a child, or a qualifying male, you may be eligible for a subsidized apartment, subsidized utilities and a food card. Theoretically you could have an apartment, utilities and food covered by an aid check of $500 a month or so.
So, depending on your desires, zero a year, $6,000 a year, $20,000 to $30,000 a year, $100,000 to $200,000 a year, or $500,000 plus. For the Midwest.
For the coasts, go ahead and double all that. For some real backwood areas it might be halfed.