Use aapt:
aapt list -a package.apk | grep SdkVersion
You will see version numbers in hex. e.g.:
A: android:minSdkVersion(0x0101020c)=(type 0x10)0x3
A: android:targetSdkVersion(0x01010270)=(type 0x10)0xc
For this apk, minSdkVersion is 0x3 i.e. 3, and targetSdkVersion is 0xc i.e. 12.