The general rule is you need no fewer than two feet of clearance around three sides of the bed. This will give you enough space to walk around your bedroom. However, you usually need more space than this for furniture like a chest of drawers or a pair of nightstands.
That means you’ll need a few extra feet of space on at least one side of the bed. For example, you could have two feet at the left and right side of the bed while having four or five feet at the foot. Of course, the number of extra feet necessary to accommodate your furniture depends on how much you have and how big it is.