Just to get some numbers out there, for people in our income range. Assuming you are able to save 25,000 a year, get 8% return on investments, and pay a marginal tax rate of 28% on the investment returns, you will have a shade over 1 Mil in 20 years. To make it a bit more realistic, if you save 15,000 per year and get 6% returns annually, it will take about 33 years. So you can either retire at 41 or 53 (assuming 1 Mil is enough to retire on).
Now if your investments can grow tax deferred (such as 401k), that puts the two "millionare" ages at 39 and 48, respectivelly. Of course, tax deferred just gives you the advantage of taxes not getting in the way while your fund is growing -- you still have to pay taxes on it when you withdraw. But if at that time you have all your assets (house, car, etc) paid for, you can live on a lower monthly income. So if you are married by that time, and keep your withdraws to less than 70,000 a year, you only pay 15% tax. Oh, and you have to wait till your mid 50's to start taking out of 401k without paying a 10% penalty. (which is why a smart strategy is to use 401k as just one of several investment saving strategies).
The real benefit of 401k is if your employer matches funds. This can essentially double your contributions. And since there is a built in rule that keeps you from taking it out till you are close to retirement age, it lessens the chance that you will take it out early and blow through it when you are younger.