Bwah? I would imagine that it's the same as player defence cap. Which is to say inconsequential.
However, the soft cap numbers vary somewhat due to the level differences amongst MM pets. I don't know the exact numbers, but lowest tier pets require a substantial amount more defence to be as safe as a highest tier pet, simply due to level differences, and the likely level difference between them and the enemies you're likely to be facing.
Remember: if you're facing +2s, then your lowest tier minions are facing +3s (assuming the full complement of pets).
The hard cap is lower for the MM pets iirc, however, it has no effect at all on the soft cap which is the only important thing. Aka, 45% defense = enemies have minimum chance to hit unless they have +To hit, or -Defense.
Damage Proc Mini-FAQ
Just noticed Damage Proc Mini-FAQ wasn't working with new forums, it's been updated.
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Bwah? I would imagine that it's the same as player defence cap. Which is to say inconsequential.
However, the soft cap numbers vary somewhat due to the level differences amongst MM pets. I don't know the exact numbers, but lowest tier pets require a substantial amount more defence to be as safe as a highest tier pet, simply due to level differences, and the likely level difference between them and the enemies you're likely to be facing.
Remember: if you're facing +2s, then your lowest tier minions are facing +3s (assuming the full complement of pets).
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Actually, unless you are fighting mobs that are more than +3 to you (and thus +6 or better to your tier 1 pets) they won't need any more defense than normal. Until the purple patch REALLY starts to kick in (which is at +6 levels and up) enemies only get accuracy bonuses, not to hit bonuses and the softcap is unaffected (relatively speaking) by accuracy bonuses.
Globals: @Midnight Mystique/@Magik13
That's right. I stand corrected.
Though I suppose the ultimate point is that MM pets overall aren't really that different in practice to players.
In practice, they're not that different. In theory, they can be. ^.^
So, not really correcting you as the soft-cap is all that really matters, but there is some slight differences to pets. 
Damage Proc Mini-FAQ
Just noticed Damage Proc Mini-FAQ wasn't working with new forums, it's been updated.
Just one thing about your your Damage proc guide Natsuki.
Pets have a variation on what powers will trigger a damage proc. The attack a pet uses has to the property which the proc is based on e.g.
Thugs tiers 1 pets have 2 attacks with KB and 1 without. Only the the 2 attacks with KB can trigger a KB Proc (Explosive Strike for example). One of the tier one pets, the Arsonist, has no knock back attacks and never triggers a proc.
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Just one thing about your your Damage proc guide Natsuki.
Pets have a variation on what powers will trigger a damage proc. The attack a pet uses has to the property which the proc is based on e.g.
Thugs tiers 1 pets have 2 attacks with KB and 1 without. Only the the 2 attacks with KB can trigger a KB Proc (Explosive Strike for example). One of the tier one pets, the Arsonist, has no knock back attacks and never triggers a proc.
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I'm very well aware of that.
In fact, I have even stated as such within my FAQ
*snip*
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What about powers that only have a chance for the enhancements type to fire off (Such as Energy Blast with Explosive Strike)?
There has been much debate about this particular point; via testing and thanks to Biowraith, there is now a perfect example/proof of how this works. In essence, a power only needs to be enhanceable for the type of enhancement for the proc to fire off. The power does not even need to contain such an effect for the proc to work! That is to say, slotting an Explosive Strike chance for Smashing into a power that has a 20% chance for Knockback, it will roll the chance for Smashing proc whether or not the chance for knockback the power has inherently fires off! What's my proof? Robotics Mastermind's first attack, Pulse Rifle Blast (Tier1 attack), has NO knockback effect at all, however, the power accepts both Knockback enhancers and Knockback Set Enhancers, and yes, the Explosive Strike proc works in it.
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Mind you that at this point, they have fixed this particular issue. However, I have explained that the powers need to be enhanceable for a proc to work. I did not go into the finer details of MM Pets, and procs as that was outside of the scope of a Mini FAQ.
I have assisted many a Dom, and Mastermind in explaining such intricacies on these boards. I just did not wish to get into the exact details inside of the mini-FAQ as it was designed for people to get a general basis of how they function without bringing specific AT examples to the table.
Damage Proc Mini-FAQ
Just noticed Damage Proc Mini-FAQ wasn't working with new forums, it's been updated.
Was curious as to what the DEF cap is for MM pets.