As others have stated, it's the current that kills, not the voltage. (Although, once again as others have said, there's a voltage below which safety from electrocution can normally be assumed).
When I was teaching physics, it was standard practice to use a Van de Graff generator to produce static electricity and then discharge it by getting a pupil to touch the metal sphere and point at an earthed object. This produced a large blue spark which flashed between the pupil's finger and the earth point. Doing so, passed electricity through the teenager's body, with a potential difference of up to 100,000 volts between his two hands. It's a perfectly safe thing to do because the current is so low.
However, anyone who accidentally touches both terminals of a 12V car battery simultaneously will experience a very painful jolt. That's because, despite the low voltage, there's a very high current.
It's actually quite difficult to kill someone with an electric current. As Terence has indicated, the greatest risk is when there's minimal resistance on the path to earth because of the presence of water. The risk is also much higher if the path of the electricity passes through the heart muscles. However, I've worked on live electrical circuits and managed to connect myself to the mains on lots of occasions. It hurts like hell (and can leave a limb without much muscle function for a short while) but I still seem to be here!
Chris