It depends on the room use and your own preferences. If the room will be used as a theater, watching movies, then dark colors would be best. But if it is for general purpose use then some lighter colors might work better, better light reflection.
A good compromise is to use a darker color as an accent and a main lighter color (2-3 shades lighter). You could also use a darker color for one wall and the lower third of the other walls with a lighter color for the top 3 walls, add chair rail trim to separate the colors.
Remember the ceiling is typically a lighter color and this is the largest area of any room. Just having a lighter complementary colored ceiling will dramatically lighten up a room.