For laners, you should be looking for 70-80 CS by the 10 minute mark. A good goal to set is to try for 50 by then, and then working from there. It's all about know your projectile speed, your minion projectile speed, and how much damage each does.
Also, for under turret farming. Melee minions Tower Shot>Tower Shot>AA. Caster minions, AA>Tower shot>AA.
Try doing a few custom games for 10 minutes each, JUST to practice last hitting. Or, better, get a friend to do customs with you, and let them play a champ murderer. They just sit in lane and bully enemy champs to keep them off your back while you CS. I did this for a friend once (he was level 1 and still learning the game). I just played Katarina, we went into bot lane, and I murdered the lane opponents while he learned how farming worked.
From there, learn how to farm while still playing and counterplaying lane opponents. Gradual steps.