Eighteen to Twenty-Four inches works well. The most important thing to remember is to install the pipe so that is has a slight downward slope towards your discharge point.
generally a depth of eight to twleve inches is usually an adequate depth. More important is the the grading in the trench, completely flat and it won't drain.
install your french drain below foundation level got a basement? an accepticable 16 in below foundaion keep in mind the soil drainage dont go to shallow or to deep