Using braces makes the code more maintainable and understandable. So you should consider them by default.
I sometimes skip using braces on guard clauses to make the code more compact. My requirement for this is that they're if statements that are followed by a jump statement, like return or throw. Also, I keep them in the same line to draw attention to the idiom, e.g:.
if (!isActive()) return;
They also apply to code inside loops:
for (...) {
if (shouldSkip()) continue;
...
}
And to other jump-conditions from methods that are not necessarily at the top of the method body.
Some languages (like Perl or Ruby) have a kind of conditional statement, where braces don't apply:
return if (!isActive());
// or, more interestingly
return unless (isActive());
I consider it to be equivalent to what I just described, but explicitly supported by the language.