This is actually quite related to another answer I've provided regarding reading / writing csv files w/ numpy:
Python: how to do basic data manipulation like in R?
You should definitely use numpy, no matter what else! The ease of indexing, etc. far outweighs the cost of the additional dependency (well, I think so). PyTables, of course, relies on numpy too.
Otherwise, it really depends on your application, your hardware and your audience. I suspect that reading in csv files of the size you're talking about won't matter in terms of speed compared to PyTables. But if that's a concern, write a benchmark! Read and write some random data 100 times. Or, if read times matter more, write once, read 100 times, etc.
I strongly suspect that PyTables will outperform SQL. SQL will rock on complex multi-table queries (especially if you do the same ones frequently), but even on single-table (so called "denormalized") table queries, pytables is hard to beat in terms of speed. I can't find a reference for this off-hand, but you may be able to dig something up if you mine the links here:
http://www.pytables.org/moin/HowToUse#HintsforSQLusers
I'm guessing execute performance for you at this stage will pale in comparison to coder performance. So, above all, pick something that makes the most sense to you!
Other points:
As with SQL, PyTables has an undo feature. CSV files won't have this, but you can keep them in version control, and you VCS doesn't need to be too smart (CSV files are text).
On a related note, CSV files will be much bigger than binary formats (you can certainly write your own tests for this too).