Here is the cleanest way to achieve this in iOS 7.0 and above:
tableView.keyboardDismissMode = UIScrollViewKeyboardDismissModeOnDrag;
Or to dismiss interactively when touching:
tableView.keyboardDismissMode = UIScrollViewKeyboardDismissModeInteractive;
Or in Swift:
tableView.keyboardDismissMode = .onDrag
To dismiss interactively:
tableView.keyboardDismissMode = .interactive