RFC4890 addresses solely this issue.
Specifically Section 4 answers all your questions.
With ICMPv6 you basically have the two cases: Transit Traffic and Local Configuration Traffic
Of course this is a complete RFC, so lot's of text and quite detailed, but I thought it should be listed as an answer.
I'll list the messages of the sections (and cut out the informative passages, it's adivsable to read them, though):
4.3 Recommendations for ICMPv6 Transit Traffic
4.3.1. Traffic That Must Not Be Dropped
Destination Unreachable (Type 1) - All codes
Packet Too Big (Type 2)
Time Exceeded (Type 3) - Code 0 only
Parameter Problem (Type 4) - Codes 1 and 2 only
Echo Request (Type 128)
Echo Response (Type 129)
4.3.2. Traffic That Normally Should Not Be Dropped
Time Exceeded (Type 3) - Code 1
Parameter Problem (Type 4) - Code 0
Home Agent Address Discovery Request (Type 144)
Home Agent Address Discovery Reply (Type 145)
Mobile Prefix Solicitation (Type 146)
Mobile Prefix Advertisement (Type 147)
4.3.3. Traffic That Will Be Dropped Anyway -- No Special Attention Needed
Router Solicitation (Type 133)
Router Advertisement (Type 134)
Neighbor Solicitation (Type 135)
Neighbor Advertisement (Type 136)
Redirect (Type 137)
Inverse Neighbor Discovery Solicitation (Type 141)
Inverse Neighbor Discovery Advertisement (Type 142)
Listener Query (Type 130)
Listener Report (Type 131)
Listener Done (Type 132)
Listener Report v2 (Type 143)
Certificate Path Solicitation (Type 148)
Certificate Path Advertisement (Type 149)
Multicast Router Advertisement (Type 151)
Multicast Router Solicitation (Type 152)
Multicast Router Termination (Type 153)
4.3.4. Traffic for Which a Policy Should Be Defined
Seamoby Experimental (Type 150)
Unallocated Error messages (Types 5-99 inclusive and 102-126 inclusive)
Unallocated Informational messages (Types 154-199 inclusive and 202-254 inclusive).
4.3.5. Traffic That Should Be Dropped Unless a Good Case Can Be Made
Node Information Query (Type 139)
Node Information Response (Type 140)
Router Renumbering (Type 138)
Types 100, 101, 200, and 201.
Types 127 and 255.
4.4. Recommendations for ICMPv6 Local Configuration Traffic
4.4.1. Traffic That Must Not Be Dropped
Destination Unreachable (Type 1) - All codes
Packet Too Big (Type 2)
Time Exceeded (Type 3) - Code 0 only
Parameter Problem (Type 4) - Codes 1 and 2 only
Echo Request (Type 128)
Echo Response (Type 129)
Router Solicitation (Type 133)
Router Advertisement (Type 134)
Neighbor Solicitation (Type 135)
Neighbor Advertisement (Type 136)
Inverse Neighbor Discovery Solicitation (Type 141)
Inverse Neighbor Discovery Advertisement (Type 142)
Listener Query (Type 130)
Listener Report (Type 131)
Listener Done (Type 132)
Listener Report v2 (Type 143)
Certificate Path Solicitation (Type 148)
Certificate Path Advertisement (Type 149)
Multicast Router Advertisement (Type 151)
Multicast Router Solicitation (Type 152)
Multicast Router Termination (Type 153)
4.4.2. Traffic That Normally Should Not Be Dropped
- Time Exceeded (Type 3) - Code 1
- Parameter Problem (Type 4) - Code 0
4.4.3. Traffic That Will Be Dropped Anyway -- No Special Attention Needed
Router Renumbering (Type 138)
Home Agent Address Discovery Request (Type 144)
Home Agent Address Discovery Reply (Type 145)
Mobile Prefix Solicitation (Type 146)
Mobile Prefix Advertisement (Type 147)
Seamoby Experimental (Type 150)
4.4.4. Traffic for Which a Policy Should Be Defined
Redirect (Type 137)
Node Information Query (Type 139)
Node Information Response (Type 140)
Unallocated Error messages (Types 5-99 inclusive and 102-126 inclusive)
4.4.5. Traffic That Should Be Dropped Unless a Good Case Can Be Made
Types 100, 101, 200, and 201.
Types 127 and 255.
Types 154-199 inclusive and 202-254 inclusive.