Apple generally allows apps built with one SDK to run on that SDK and the two previous versions. So if you build with iOS8, you should be able to run on devices with iOS 7 and iOS 6 installed. It should also run on iOS 9 as long as your app doesn’t use any “features” from iOS 9 (Including breaking changes Apple is forcing on you).
Let’s look at a specific example of the last one first. If your app does not access internet resources, more specifically websites using http:// instead of https:// or https:// sites with questionable SSL certificates. In iOS 9 you now have to use https:// or add some code to your build.settings, but if you don’t do network things, your iOS 8 built app will probably run on iOS 9. Last year, pretty much forced any updates to be iOS 8, but un-updated apps will run unless they run into these kinda changes.
And keep this in mind. iOS 5 is installed on about 1.5% of the devices out there. iOS 6 is a little under 3% and iOS 7 is around 14%, but iOS 9 is being installed at a very fast rate (already on over 50% of the devices). Apple claims iOS 9 is 52%, iOS 8 is 41% and the rest is 8%.
When you factor that in, You probably should not worry about the 4.5% running iOS 6 or older. Build with iOS 9 and you will be fine.
Rob