There is no age requirement, but children younger than 4 or 5 generally do not have enough control over their body to do gymnastics and teenagers older than 14 or 15 generally do not start gymnastics because a gymnasts body at that age is very well adjusted to gymnastics with flexibility and muscle. Most gymnasts "retire" at about 16 or 17 anyway, because their body is too "old" or is starting to wear out because of the harsh abuse from years of gymnastics. But, I know several people who have started gymnastics at 14 and are doing very well.
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It all depends on your goal. To be an Olympic gymnast, you'd have to start early, but you can enjoy yourself, and even get rather good later in life.