We always recommend at least 3 biological replicates. If you do two, how do you know one isn't bad? If you do three, and one is bad, you can at least eliminate it and continue.
I think 4 would be ideal especially from a statistical standpoint, but that's not always possible because of cost. However, talk with your sequencing core facility to determine if barcoding multiple samples is an option. If it is, you may be able to sequence more samples for the same cost.
Take a look at this paper as well:
Statistical Design and Analysis of RNA Sequencing Data
Genetics, Vol. 185, No. 2. (1 June 2010), pp. 405-416.
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