From what I know, no such criteria exists in any company, unless you have signed a specific contract that requires you to work for a predefined time there (e.g. in some companies they sponsor your university education and in exchange you sign a contract to work for several years in the company, otherwise you pay back a substantial amount).
In my country no one can force you to stay in a company if you don't want to, but there is usually a notice period between 1 and 3 months.
How many years you work in an organization depends on the company, country, market, your plans for the future etc.
People will ask you why you switched positions or employers, so be prepared with a good and honest answer.
Some employers consider brand loyalty as an important criteria, so you need to give them a good reason to consider your application.
I am not working as an HR specialist and most likely we come from different countries, so it can be different in your case.