As @ganaraj mentioned AngularJS has dependency injection at its core. When building toy seed applications with and without RequireJS, I personally found RequireJS was probably overkill for most use cases.
That doesn't mean RequireJS is not useful for it's script loading capabilities and keeping your codebase clean during development. Combining the r.js optimizer (https://github.com/jrburke/r.js) with almond (https://github.com/jrburke/almond) can create a very slim script loading story. However since its dependency management features are not as important with angular at the core of your application, you can also evaluate other client side (HeadJS, LABjs, ...) or even server side (MVC4 Bundler, ...) script loading solutions for your particular application.