It highly depends on what you grew on it, where, and how many tools you had at your disposal.
Generally vegetables had higher yields, but were harder to harvest. So the reason why grain became a staple food is that there was just enough place for it to be grown. Legumes were also a staple food; they provided more calories per hectare besides baring much needed proteins. Crop rotation required that one in three fields lay fallow, but farm animals could pasture on that providing alimentary diversity.
Crop yield was much better in southern Europe than in Northern Europe, especially in fertile river valleys. You could grow more wheat, cut grass more often (more hay), harvest crops more often and grow better/less cold resistant variations of staple crops. In the north you had to rely on barley and rye instead of wheat, later on potatoes, rice and maize improved the calories per hectare ratio both in the south and in the north. In the south they had olive oil too, which was a valuable resource, because it had high calory yields and relatively low soil requirements.
Equipment, training, access to technology and further food sources and tax policy of your local lord also play a big role. Of course you had to buy and sell goods to pay your taxes and to buy new tools. If for various reasons, you were not a serf, tax might have played a smaller role. For example a yeoman in England or a "Freibauer" in Tirol were exempt from feudal taxes.
Living near monasteries often provided an extra help regarding agricultural technologies, as monasteries also spread that.
If you had farm animals you had to do much less work yourself, saving a lot of calories yourself too.
Finally, where i come from (the Alps) in the 19th century 3 hectares were enough for subsistence and a small extra for a family (mother, father and somewhere between 5-20 children usually employed on the farm) if you had a good farm on the valley floor. High pastures and the like usually required several dozen of land.
As much of the harvesting technology on high pastures and their living conditions now are pretty much the same as in the middle ages, except for better cow breeds, they are a a good indicator for what a family might have needed. Taking into account that animal husbandry requires a lot of space, people were smaller and living standards lower, cows gave less milk and that you had secondary sources (fishing in lakes, hunting in forests during winter) - i guess a family of yeomen not living in high altitudes with good soil and a good location, probably lived off less than 5 hectares.