It depends. If you have taxable pensions and taxable social security then you would need to file if your taxable income is greater than $24,000 ($26,600 if you are both over 65)
Social security is up to 85% taxable if you are married filing separate or if 1/2 of your social security plus your other income is over $32,000 when filing a joint return.
https://www.ssa.gov/planners/taxes.html