It depends on what the poison is.
If we take the colloquial use of the word and include toxins and venoms, many are things like proteins that will certainly denature or otherwise degrade, eventually becoming harmless. e.g. tetrodotoxin, ricin, botulinum, etc.
I would expect that type of poison to have the shortest shelf-life as they are relatively fragile.
Many other poisons are small organic molecules.
These can often be degraded by oxidation in air, exposure to UV, hydrolysis etc. and would include things like nicotine and nerve agents like sarin and VX.
Many nerve agents, have shelf lives of a few years and research has actually been done to extend them for use in munitions.
Several metals are known to be poisonous (like lead, mercury, and cadmium) and are problematic because they are toxic in not only their elemental forms, but also in inorganic and organic compounds.
There may be a great difference in toxicity of the different forms, (see elemental mercury vs methylmercury), but most forms remain at least somewhat toxic.
These may last a very long time because reactions likely to occur under normal conditions may not render them safe, e.g. a chunk of cinnabar ($\ce{HgS}$ mineral) sitting on your desk will not undergo any significant change to render it safe, even on a geological timescale.