Presumably, a VFR departure is legal because there are sufficient backup instruments to meet the type certificate requirements for day VFR.
First, let's separate the "type certificate requirements" (essentially, what it tells you in the AFM's Kinds of Operations paragraph in the Limitations section and in the Equipment List part of the W&B section) from the 91.205(b) equipment requirements for Day VFR flight. The only flight instruments required by 91.205(b) are the airspeed, altimeter, and mag compass, and those should be covered by the "standby" instruments, but others may be required by the AFM even for Day VFR flight. They only way to know what those are is to look at that aircraft's AFM.
In addition, it would depend on just what "glass" is/is not working. For example, the engine instrumentation may be on one of the displays, and if that display is out, you may not have the required oil pressure/temp indicators, and then even Day VFR would be prohibited by 91.205(b).
However, I can't see IFR being legal unless one also has a separate GPS (normally the case with a G500/600) and a CDI mounted within the pilot's immediate field of view.
I don't know of any "glass panel" plane whose AFM permits IFR operation with either the PFD or MFD inoperative. If nothing else, loss of the PFD generally means loss of the only gyroscopic rate-of-turn indicator display, and that is required by 91.205(d)(3) for IFR operation.
All in all, the answer to this question would normally be found in the AFM as described above. Beyond that, you're probably looking at a special flight ("ferry") permit for a one-time flight to a repair station in Day VFR only.