试试下面的代码:

它在没有StoryBoard的情况下工作:

func application(application: UIApplication, didFinishLaunchingWithOptions launchOptions: NSDictionary?) -> Bool {
    self.window = UIWindow(frame: UIScreen.mainScreen().bounds)
    self.window!.backgroundColor = UIColor.whiteColor()

    // Create a nav/vc pair using the custom ViewController class

    let nav = UINavigationController()
    let vc = ViewController(nibName: "ViewController", bundle: nil)

    // Push the vc onto the nav
    nav.pushViewController(vc, animated: false)

    // Set the window’s root view controller
    self.window!.rootViewController = nav

    // Present the window
    self.window!.makeKeyAndVisible()
    return true
}

这是我从apple Swift博客上读到的一篇文章，可能会有帮助:

应用程序兼容性:

如果你写了一个Swift应用程序，你可以相信你的应用程序将来会工作得很好。事实上，你可以用同样的应用程序回到OS X Mavericks或iOS 7。这是可能的，因为Xcode在你的应用程序包中嵌入了一个小的Swift运行时库。因为这个库是嵌入式的，所以你的应用程序使用了一个一致的Swift版本，可以在过去、现在和未来的操作系统版本上运行。

二进制兼容性和框架:

在确保应用程序的运行时兼容性的同时，Swift语言本身将继续发展，二进制接口也将发生变化。为了安全起见，应用程序的所有组件都应该使用相同版本的Xcode和Swift编译器来构建，以确保它们能够协同工作。

This means that frameworks need to be managed carefully. For instance, if your project uses frameworks to share code with an embedded extension, you will want to build the frameworks, app, and extensions together. It would be dangerous to rely upon binary frameworks that use Swift — especially from third parties. As Swift changes, those frameworks will be incompatible with the rest of your app. When the binary interface stabilizes in a year or two, the Swift runtime will become part of the host OS and this limitation will no longer exist.

说到Swift框架。 截至目前，在Xcode 6.1.1 (6A2008a)版本中，如果Swift框架针对iOS 7.1，链接器报告警告

ld: warning: embedded dylibs/frameworks only run on iOS 8 or later.

并且应用程序无法提交到AppStore。检查这个问题:Lint阻止动态库和框架在iOS 7中传递

Swift代码可以部署在OS X 10.9和iOS 7.0上。在较旧的操作系统版本上，它通常会在启动时崩溃。

试试下面的代码:

它在没有StoryBoard的情况下工作:

func application(application: UIApplication, didFinishLaunchingWithOptions launchOptions: NSDictionary?) -> Bool {
    self.window = UIWindow(frame: UIScreen.mainScreen().bounds)
    self.window!.backgroundColor = UIColor.whiteColor()

    // Create a nav/vc pair using the custom ViewController class

    let nav = UINavigationController()
    let vc = ViewController(nibName: "ViewController", bundle: nil)

    // Push the vc onto the nav
    nav.pushViewController(vc, animated: false)

    // Set the window’s root view controller
    self.window!.rootViewController = nav

    // Present the window
    self.window!.makeKeyAndVisible()
    return true
}

这里似乎有很多旧的答案，所以我只是想发布Swift团队的官方回应。Swift向后兼容OS X Mavericks和iOS 7

苹果开发者swift博客:Objective-C id为swift Any

2014年7月11日

兼容性

我们在WWDC上听到的最常见的问题之一是，“Swift的兼容性故事是什么?”这似乎是一个很好的第一个话题。

App Compatibility Simply put, if you write a Swift app today and submit it to the App Store this Fall when iOS 8 and OS X Yosemite are released, you can trust that your app will work well into the future. In fact, you can target back to OS X Mavericks or iOS 7 with that same app. This is possible because Xcode embeds a small Swift runtime library within your app’s bundle. Because the library is embedded, your app uses a consistent version of Swift that runs on past, present, and future OS releases.