A theory-based scaling for the characteristic length of a circular, limited tokamak scrape-off layer (SOL) is obtained by considering the balance between parallel losses and non-linearly saturated resistive ballooning mode turbulence driving anomalous perpendicular transport. The SOL size increases with plasma size, resistivity, and safety factor q. The scaling is verified against flux-driven nonlinear turbulence simulations, which reveal good agreement within a wide range of dimensionless parameters, including parameters closely matching the TCV tokamak. An initial comparison of the theory against experimental data from several tokamaks also yields good agreement.