When you bite into broccoli that has been boiled for 2 minutes, it should have a crisp, slightly tender texture. In my mind, this is when broccoli is perfectly cooked. But if you want a different texture, follow the timing recommendations below (keep in mind that the size of the broccoli pieces will affect the cooking time slightly)
1 minute: Very crisp
2 minutes: Crisp-tender
3 minutes: Soft and easily pierced with a fork but not mushy
4 minutes: Very soft
5 minutes: Very soft/mushy
Keep in mind that the broccoli will continue to cook a little bit and get softer after the water has been drained off. So it's best to undercook the florets just slightly to get the best texture.