it really really REALLY depends.
i got a D in AP Calculus AB 1st semester of senior year and i was scared for my life. i got into UCM, UCI, UCSB, and UCSD. i had to send notifications of D or F grades to all of the colleges i applied to. UCLA rejected me on the spot for the bad grade, but UCSD (where i really wanted to go to) sent me a small notecard in the mail telling me that they would tell me of their decision in some random late month. i forgot exactly when. but it was pretty late.
fortunately, i managed to get my grade in that class up to a C (i almost got a B! ><) by second semester, and also passed the AP Calc exam in may so i got college credit to skip the first quarter of math.

my grades in senior year were really strange. i think i got one D for math, one B, and the rest A's. it might depend on the rest of your grades too, since they may realize that your calc teacher was just being a huge PMS-ing @$(*(@*$@. *cough cough* but i don't really know.
my orientation leader also told me that she got a D in AP calculus, but her admission wasn't revoked. however, my suitemate also knows someone who got a D in AP Physics and her admission got revoked. it really depends how lucky you are.