I looked for examples in ufw, the firewall created by Ubuntu. It seems that once you've allowed both ICMP and DHCP, there's not much else left to worry about.
https://git.launchpad.net/ufw/tree/conf/before6.rules?id=release/0.35
As thrig points out, it seems that there's a lot of different ICMP codes to look at. Your current rules avoid doing so by allowing all ICMP; I can definitely see the appeal of this approach :).
Unfortunately ufw is not perfectly helpful as a reference for these. It doesn't justify why e.g. packet-too-big
wouldn't be accepted by RELATED already. But it seems a plausible source for a iptables6 default taken from RFC4890.
RFC4890 actually only mentions one type of ICMP as having "significant security risk" - "Redirect (Type 137)". ICMP redirects are only useful on local networks which have several independent routers, and are not optimally configured. Handling the redirect is not essential, but it would not use the network as efficiently as possible. ufw does not explicitly allow redirects. Based on this, I think it would be reasonable to allow most or all ICMP but not allow ICMP redirects.
# ok icmp codes for INPUT (rfc4890, 4.4.1 and 4.4.2)
-A ufw6-before-input -p icmpv6 --icmpv6-type destination-unreachable -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type packet-too-big -j ACCEPT
# codes 0 and 1
-A ufw6-before-input -p icmpv6 --icmpv6-type time-exceeded -j ACCEPT
# codes 0-2
-A ufw6-before-input -p icmpv6 --icmpv6-type parameter-problem -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type echo-request -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type echo-reply -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type router-solicitation -m hl --hl-eq 255 -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type router-advertisement -m hl --hl-eq 255 -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type neighbor-solicitation -m hl --hl-eq 255 -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type neighbor-advertisement -m hl --hl-eq 255 -j ACCEPT
# IND solicitation
-A ufw6-before-input -p icmpv6 --icmpv6-type 141 -m hl --hl-eq 255 -j ACCEPT
# IND advertisement
-A ufw6-before-input -p icmpv6 --icmpv6-type 142 -m hl --hl-eq 255 -j ACCEPT
# MLD query
-A ufw6-before-input -p icmpv6 --icmpv6-type 130 -s fe80::/10 -j ACCEPT
# MLD report
-A ufw6-before-input -p icmpv6 --icmpv6-type 131 -s fe80::/10 -j ACCEPT
# MLD done
-A ufw6-before-input -p icmpv6 --icmpv6-type 132 -s fe80::/10 -j ACCEPT
# MLD report v2
-A ufw6-before-input -p icmpv6 --icmpv6-type 143 -s fe80::/10 -j ACCEPT
# SEND certificate path solicitation
-A ufw6-before-input -p icmpv6 --icmpv6-type 148 -m hl --hl-eq 255 -j ACCEPT
# SEND certificate path advertisement
-A ufw6-before-input -p icmpv6 --icmpv6-type 149 -m hl --hl-eq 255 -j ACCEPT
# MR advertisement
-A ufw6-before-input -p icmpv6 --icmpv6-type 151 -s fe80::/10 -m hl --hl-eq 1 -j ACCEPT
# MR solicitation
-A ufw6-before-input -p icmpv6 --icmpv6-type 152 -s fe80::/10 -m hl --hl-eq 1 -j ACCEPT
# MR termination
-A ufw6-before-input -p icmpv6 --icmpv6-type 153 -s fe80::/10 -m hl --hl-eq 1 -j ACCEPT
# ok icmp codes for OUTPUT (rfc4890, 4.4.1 and 4.4.2)
-A ufw6-before-output -p icmpv6 --icmpv6-type destination-unreachable -j ACCEPT
-A ufw6-before-output -p icmpv6 --icmpv6-type packet-too-big -j ACCEPT
# codes 0 and 1
-A ufw6-before-output -p icmpv6 --icmpv6-type time-exceeded -j ACCEPT
# codes 0-2
-A ufw6-before-output -p icmpv6 --icmpv6-type parameter-problem -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type echo-request -j ACCEPT
-A ufw6-before-input -p icmpv6 --icmpv6-type echo-reply -j ACCEPT
-A ufw6-before-output -p icmpv6 --icmpv6-type router-solicitation -m hl --hl-eq 255 -j ACCEPT
-A ufw6-before-output -p icmpv6 --icmpv6-type neighbor-advertisement -m hl --hl-eq 255 -j ACCEPT
-A ufw6-before-output -p icmpv6 --icmpv6-type neighbor-solicitation -m hl --hl-eq 255 -j ACCEPT
-A ufw6-before-output -p icmpv6 --icmpv6-type router-advertisement -m hl --hl-eq 255 -j ACCEPT
# IND solicitation
-A ufw6-before-output -p icmpv6 --icmpv6-type 141 -m hl --hl-eq 255 -j ACCEPT
# IND advertisement
-A ufw6-before-output -p icmpv6 --icmpv6-type 142 -m hl --hl-eq 255 -j ACCEPT
# MLD query
-A ufw6-before-output -p icmpv6 --icmpv6-type 130 -s fe80::/10 -j ACCEPT
# MLD report
-A ufw6-before-output -p icmpv6 --icmpv6-type 131 -s fe80::/10 -j ACCEPT
# MLD done
-A ufw6-before-output -p icmpv6 --icmpv6-type 132 -s fe80::/10 -j ACCEPT
# MLD report v2
-A ufw6-before-output -p icmpv6 --icmpv6-type 143 -s fe80::/10 -j ACCEPT
# SEND certificate path solicitation
-A ufw6-before-output -p icmpv6 --icmpv6-type 148 -m hl --hl-eq 255 -j ACCEPT
# SEND certificate path advertisement
-A ufw6-before-output -p icmpv6 --icmpv6-type 149 -m hl --hl-eq 255 -j ACCEPT
# MR advertisement
-A ufw6-before-output -p icmpv6 --icmpv6-type 151 -s fe80::/10 -m hl --hl-eq 1 -j ACCEPT
# MR solicitation
-A ufw6-before-output -p icmpv6 --icmpv6-type 152 -s fe80::/10 -m hl --hl-eq 1 -j ACCEPT
# MR termination
-A ufw6-before-output -p icmpv6 --icmpv6-type 153 -s fe80::/10 -m hl --hl-eq 1 -j ACCEPT
# ok icmp codes for FORWARD (rfc4890, 4.3.1)
-A ufw6-before-forward -p icmpv6 --icmpv6-type destination-unreachable -j ACCEPT
-A ufw6-before-forward -p icmpv6 --icmpv6-type packet-too-big -j ACCEPT
# codes 0 and 1
-A ufw6-before-forward -p icmpv6 --icmpv6-type time-exceeded -j ACCEPT
# codes 0-2
-A ufw6-before-forward -p icmpv6 --icmpv6-type parameter-problem -j ACCEPT
-A ufw6-before-forward -p icmpv6 --icmpv6-type echo-request -j ACCEPT
-A ufw6-before-forward -p icmpv6 --icmpv6-type echo-reply -j ACCEPT
# ok icmp codes for FORWARD (rfc4890, 4.3.2)
# Home Agent Address Discovery Reques
-A ufw6-before-input -p icmpv6 --icmpv6-type 144 -j ACCEPT
# Home Agent Address Discovery Reply
-A ufw6-before-input -p icmpv6 --icmpv6-type 145 -j ACCEPT
# Mobile Prefix Solicitation
-A ufw6-before-input -p icmpv6 --icmpv6-type 146 -j ACCEPT
# Mobile Prefix Advertisement
-A ufw6-before-input -p icmpv6 --icmpv6-type 147 -j ACCEPT
(end of ICMP rules)
# allow dhcp client to work
-A ufw6-before-input -p udp -s fe80::/10 --sport 547 -d fe80::/10 --dport 546 -j ACCEPT
The following is needed if you want to use avahi for anything on the local network. Multiple popular distributions that have polices about network services, consider avahi trustworthy enough to listen to the network by default.
# allow MULTICAST mDNS for service discovery
-A ufw6-before-input -p udp -d ff02::fb --dport 5353 -j ACCEPT
UPnP is sometimes useful on client machines, but it's complex, and I haven't heard as good things about it.
# allow MULTICAST UPnP for service discovery
-A ufw6-before-input -p udp -d ff02::f --dport 1900 -j ACCEPT