I was a little disappointed that it wasn't as scary as I thought it would be (although it does take a lot to scare me) but it definitely has some jolts and scary images for the kids. Spolier alert: There is a death, and Maleficent herself has a very painful scene that can be difficult to watch. It's dark enough for parents to enjoy and light enough that it shouldn't give kids above kindergarten age any problems or nightmares.
That being said, Angelina Jolie is pretty damn creepy in this movie. Her own daughter had to play young Aurora as any other actresses they tried to hire was too afraid of her.