There is no real answer to this. If you have 2 characters and use the Limited Animation technique, PROVIDED that you already have the voice recording and have a GOOD workflow for lip sync, 10 minutes can take you 3–7 days. But limited animation is not much of an animation after all. It is a technique used commonly in anime and to a certain degree in almost every TV CARTOON where a single drawing is used for a period of time and only parts of it, eyes and mouth for example, which are on separate layers, are animated. It has a quick production timeline.

If you are going with a more fluid animation, let's say DISNEY style, it's going to take a lot longer.

If you are using 3D, depending on how many characters, the style, the scene complexity, it can take several days or it can take weeks.

These are a couple of shorts I made years ago with a friend of mine who put together the audio and edited the FINAL cut. PILOT was made in 4 days. The first two days were spent modeling the 3D objects.