I don't know if there's a good rule for that or not, but the thing I'm going by on my property is based on runoff. I go out while it's raining and try to see how much water is leaving the land. If it looks like enough so that it would make a difference (especially if you're in a drier climate or your rainfall comes in spurts with droughts between), then I'd say it's probably a good idea. If you go out in a good rainstorm and it looks like it's all soaking in, then they may not provide a lot of value.
If you're in an arid place, I think I'd just go for the swales no matter what. But, if it doesn't look like you're losing much to runoff then maybe it's not so big a deal. That's the process I'm using anyway, I guess time will tell whether it's good or not...
If you don't want to go with swales, another option I'm looking into that should help with water penetration is keyline plowing (basically a deep subsoil cut on contour). According to the keyline folks, if you do that three or four years in a row and add
compost tea and deep rooted plants to the knife cuts in the soil, you can build aerobic topsoil at a rate of several inches a year. Haven't tried it myself yet though.