I've heard various recommendation for ages.
We took our daughter at approx 21 months because we saw a spot on her tooth - to a normal dentist. In fact, he was a family dentist, but now specializes in gums (can't remember the term). He was FABULOUS with her. We knew he would be, because of how he is with us.
She sat on my lap, he got her to open her mouth, and he checked her tooth- said it looked like just a deep groove, gave us a special toothbrush to use, and will check her in a few months, and maybe try a real cleaning then. He said he'd rather watch her for 6 visits, rather than do anything that would cause fear of the dentist for the rest of her life. There was no charge for the visit, in case you are wondering.
I was concerned about going to a pediatric dentist, because I get the impression that they are often far more invasive than a regular dentist - putting a child of 2 under general anesthesia to check/fix teeth is incredibly dangerous and should not be taken lightly.
I do agree that a pediatric dentist has child-size tools, and more toys, but a good family dentist should also be able to handle children well, and the key is to get the best dentist possible, not the one with the best toys. If you have a great dentist, call and talk to them about how they are with kids, don't just assume that a pediatric dentist will be better. They may or may not be better with kids, and they may or may not be as good a dentist.