If the hull was clean, the prior paint was cleaned-up and not pancaked on, and you didn't put the paint on too thickly, then you should okay to remove it after the surface is dry to the touch. However, it you "pushed" the thickness or don't have good adhesion, then I'd leave it overnight. Some paints are more sensitive to humidity and most are sensitive to temperature. If it's dry and hot, the "curing" is usually a lot shorter. If it's on the cold-end of the recommended application range, then I'd wait longer.

The type of paint and it's compatibility with what its going-on-top-of is another variable.