As Rolnor states, the actual temperature for either reaction can vary depending on substrate, reagents, and solvent.
But this is generally true: For any set of conditions (substrate, base/nucleophile, solvent), the higher the temperature, the more Elimination is favored over Substitution.
This follows from two characteristics of these reactions: First, Elimination is always favored by entropy: Elimination starts with two particles (substrate and base) and finishes with three particles (product, protonated base, leaving group). Substitution starts with two and finishes with two. Increasing the number of particles increases the entropy, so the TΔS term is larger for elimination and higer temperature will make elimination more favorable. Second, since the alkene product is higher energy, elimination is usually more endothermic than substitution. This also makes higher T favor elimination.