While flying a helicopter, what are the minimum safe altitudes required by regulation?

In general, there are no minimum altitude requirements for helicopters other than providing the ability to make a safe emergency landing and complying with routes or altitudes specifically prescribed.  All aircraft should be operated at an altitude allowing for a safe emergency landing.  Helicopters may fly lower that what airplanes are allowed, as long as the pilot complies with any routes or altitudes specifically prescribed for helicopters by the FAA.

Reference(s):

14 CFR 91.119 Minimum safe altitudes

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