There are two things that no bedroom should be without, a mattress and a carpet.
When you consider a rug for your bedroom, the rug should be large enough so it can extend out passed the sides of the bed. This way bare feet will hit a soft landing right out of bed (2-3 feet on each side will do the trick). The rug may or may not go completely under the nightstands. The correct rug size will also depend on bed size.
8 x 10 area rugs are recommended for Queen
This will depend on bedroom size
Make sure you use a rug padding to prevent premature wear, furniture indentation and rug matting.