Tamed Pet Summoning Levels
This page tabulates the level of the Summoning skill required to summon Tamed Creatures.
Non-Combat Pets, (such as Ducks), and some Tamed Pets, (such as Small Wild Boars), do not require any summoning skill whatsoever: These are tabulated at summoning level 0. Most Tamed Pets have summoning levels of 9 or higher.
This table does not include Summoned Pets, as they have different summoning requirements.
A more complete list is currently available here.