Most of the ESC do not cut out at a high enough voltage. For myself I more or less time my flights. Most of the time I can get 8 min off a 1500 mah battery at 60% power. Your time may very, you will get used to it and notice when your power begins to drop off due to a low battery and it is time to land. I am running a Turngy ESC and it has a built in UBEC (stepping power supply) and separate conn for the balance plug on the esc and actually checks the individule cell voltage and if any cell reachs 3.7 volt or the total pack reachs 11.1 volt it does a slow down HOWEVER it is really slow.. so slow that you barely notice it and can still run down all 3 cells below 3.7 volt each and continue to fly (ok at that point you are at full stick so you know your pushing it).
In short do not depend on your ESC to tell you when to stop flying, unless you are trying to rack up a lot of frequent flyer miles on quanity battery purchases.