According to the Apple Style Guide, you should use "OS X Yosemite 10.10 or later" (except in developer documentation, which uses "macOS" when the range includes 10.12 or later versions). Here's the relevant section:
Mac operating systems have a version name and a version number. If you
include both the name and the number, place the name first. Don’t
place the name in quotation marks, and don’t include the word
version or the letter v.
To refer to specific versions of the Mac operating system, follow
these guidelines, depending on the version number:
10.12 or later: Use macOS. To refer to a specific version of macOS, you can use its name, its version number, or both. Always include
macOS.
macOS Sierra
macOS 10.12
macOS Sierra 10.12
10.8 through 10.11: Use OS X. To refer to a specific version of OS X, you can use its name, its version number, or both. Always include OS
X.
OS X El Capitan
OS X 10.11
OS X El Capitan 10.11
10.0 through 10.7: Use Mac OS X. Include the version number only.
Correct: Mac OS X 10.7
Incorrect: Mac OS X Lion 10.7
When referring to a range of OS versions that includes both macOS and
earlier versions, use the name (or version number) of the earliest
version followed by or later.
Correct: To use Handoff, you must have OS X Yosemite 10.10 or later
installed.
Incorrect: To use Handoff, you must have macOS Yosemite 10.10 or later
installed. [Version 10.10 was called OS X, not macOS.]
Exception: If a range of versions includes both macOS and earlier
versions, developer publications refer to all included versions as
macOS.