According to wikipedia: "AMD Opteron CPUs beginning with the Family 0x10 Barcelona line, and Phenom II CPUs, support a second generation hardware virtualization technology called Rapid Virtualization Indexing (formerly known as Nested Page Tables during its development), later adopted by Intel as Extended Page Tables (EPT). " - so that would be since about 2008 or so.
Later there have been some critical microcode updates, 63xx series got one in 2016 (unprivileged guest could crash the host), not sure which older CPUs have this update and which don't.