The following table displays the permissions required by users for approval pages:

Apex PageEnabled
AdhocProcessRuntimeTRUE
AgreementApprovalSummaryTRUE
AgreementApprovalSummarySf1TRUE
AgreementLineItemApprovalSummaryTRUE
AgreementTermExAddTRUE
AgreementTermExApprovalSummaryTRUE
AgreementTermExApprovalsTRUE
AgreementTermExCancelTRUE
AgreementTermExEditTRUE
AgreementTermExHistoryTRUE
AgreementTermExPreviewTRUE
AgreementTermExSubmitTRUE
ApprovalActionTRUE
ApprovalActionSf1TRUE
ApprovalContextCancelTRUE
ApprovalContextPreviewTRUE
ApprovalContextSubmitTRUE
ApprovalMatrixGenerateTRUE
ApprovalMatrixViewTRUE
ApprovalProcessDefnTRUE
ApprovalProcessDefnListTRUE
ApprovalProcessFinalActionTRUE
ApprovalProcessInitialActionTRUE
ApprovalProcessSelectEmailTemplateTRUE
ApprovalProcessStepTRUE
ApprovalProcessStepViewTRUE
ApprovalRequestAttachmentTRUE
ApprovalRequestEscalateTRUE
ApprovalRequestReassign2TRUE
ApprovalRequestReassign2Sf1TRUE
ApprovalRequestsListTRUE
ApprovalRequestsListSf1TRUE
ApprovalRuleTRUE
ApprovalRuleCriteriaEditTRUE
ApprovalRuleDimensionTRUE
ApprovalRuleEntryTRUE
ApprovalSummaryLaunchTRUE
ApprovalSummaryLaunchAddCommentSf1TRUE
ApprovalSummaryLaunchApproveRejectSf1TRUE
ApprovalSummaryLaunchReassignSf1TRUE
ApprovalsJSLibIncludeTRUE
BackupApproverTRUE
BackupApproverActionTRUE
BackupUserSearchTRUE
DelegateApproversTRUE
FormulaFieldTRUE
MatrixUserSearchTRUE
MyApprovalsTRUE
MyApprovalsLaunchTRUE
MyApprovalsSf1TRUE
NextLevelApproverTRUE
OpportunityApprovalSummaryTRUE
OpportunityPartnersListTRUE
OpportunityProductsListTRUE
PreviewSubmitApprovalsTRUE
QueueSearchTRUE
ReassignUserSearchTRUE
ReassignUserSearchMyApprovalsTRUE
SObjectApprovals2SubmitTRUE
SObjectApprovals2SubmitSf1TRUE
SearchFilterTRUE
SearchFilterDetailTRUE
TermExApprovalTRUE
TermExApprovalCloneTRUE

For information on setting page access permissions, refer to this Salesforce article.