A good starting place is a set of rules similar to this one:
iptables -A INPUT -m state --state ESTABLISHED,RELATED -j ACCEPT
iptables -A INPUT -p tcp --dport 22 -j ACCEPT
iptables -A INPUT -p udp --dport 5060 -j ACCEPT
iptables -A INPUT -p udp --dport 10000:20000 -j ACCEPT
iptables -A INPUT -i lo -j ACCEPT
iptables -P FORWARD DROP
iptables -P OUTPUT ACCEPT
iptables -P INPUT DROP