Depends on how intrepid you are, I suppose. You could actually download Panda from the cvs tree and build it yourself (using a special iPhone build configuration), and run Panda3D apps on your phone today. But for a fully-supported turnkey solution, you’ll need to wait at least for the 1.7 release, which is not yet scheduled but will hopefully happen within a few months.
(In addition to the publish itself, there’s also a little more work that still needs to be done in the codebase to make it a complete iPhone solution. Some of this work will overlap with the web plugin effort I’m also working on, so I’ve put the iPhone development temporarily on hold while I continue the web plugin effort full-speed. But the claimed timeframe of a few months still applies.)
David