My own rule of thumb from "a finger in the air" is that any jitter less than
200 ps from a CD player or DAC, as measured by Julian Dunn's "J-test", is likely to be inaudible. And this is regularly bettered in even modest products.
[TL;DR]There are various more complete answers in the literature depending on how you define "audible". But it's quite a complex subject since you have multiple variables to handle. I had to understand a little about the subject many years ago when professionally I took on a digital audio project. But I am not formally educated in the subject.
There are quite a few useful published papers by Julian Dunn on the topic. His most compact summary is in the graph in section 3.3 and figure 9 of "
Jitter: Specification and Assessment in Digital Audio Equipment" where, to take just one point,
sinusoidal jitter of
100 ps at 3 kHz is a "maximum inaudible jitter amplitude" and at 20 kHz the limit is down to about
20 ps. But IIRC audibility here is when converting full-scale digital signals to 120 dB SPL gives rise to unwanted output above 0 dB SPL. Very much worst case - especially at high signal frequencies in real music. But it does give room for the jitter to be signal-correlated.
There's a Stereophile article "
Bits is Bits?" (a version of a published paper) in which Malcolm Hawksford and Chris Dunn go reasonably deeply into S/PDIF interfacing, e.g. between CD transport and separate DAC.
Starting on page 7 there's "Audibility of jitter errors". The analysis is close in principle to Julian Dunn's and it gives similar numbers. Again it's for the worst case as you go up in signal frequency so I take low to mid-frequency (up to circa 3 kHz) numbers as most useful. [/TL;DR]