The main point of a CSRF token is that it can't have been sent from another site. So therefore it (a) can't be predicted or detected by an attacker, and (b) is not automatically attached to a request the way a cookie is.
So theoretically if a CSRF token is never disclosed to third parties, again theoretically, you don't have to expire them at all. But then you run the risk of your token getting "leaked" somehow. So your expiry period really should be short enough to combat the prospect of a token getting out and being used against your user.
There aren't really any guidelines, but a good solid techique is to auto-generate a new token on EVERY request which embeds a signed timecode, and then accept tokens up to a certain age.
A sample function might be:
concat(current_time,salt,sha256_sum(concat(salt,userid,current_time,secret_string)))
The token contains timing information and a salt, but also contains a signature which can't be forged and which is tied to the userid.
Then you can define your own expiry interval -- an hour, a day, 2 hours. Whatever. The interval in this case isn't tied to the token, so you're free to set expiry rules however you want to.
At the very least, though, CSRF tokens should expire when the login session expires or when the user logs out. There's no expectation by the user that a form that you brought up BEFORE you logged out will continue to work AFTER you log back in again.