For this, we need to know two things: how close you can get to the center of mass of the black hole before the tidal forces tear you apart, and the radius of the event horizon.
The first is determined by the Roche limit: $d = R_m (2 M_M/M_m)^{1/3}$, where $R_m$ is the radius of the smaller object, $M_M$ is the mass of the larger object, and $M_m$ is the mass of the smaller object. This assumes certain simplified conditions, so in practice, you may want to add a margin of error.
The second is defined by the Schwarzschild radius: $r_s = 2GM/c^2$, where G is the gravitational constant, M is the mass of the black hole, and c is the speed of light.
The Schwarzschild radius grows faster than the Roche Limit does, so as the black hole changes in mass, the distance between them changes as well.
Let's assume the planet is roughly comparable to Earth, and look at how close you can get to three different black holes: Cygnus X-1, the supermassive Sagittarius A*, and the ultramassive black hole at the center of NGC 1277.
Cygnus X-1
This was the first black hole discovered, and is a nice normal-sized example. Its mass is approximately 15 times that of the sun.
$d \approx 1.29 \times 10^9 m$.
$r_s \approx 73 \times 10^3 m$.
The black hole fits into an area smaller than Earth, but its Roche Limit is a 17 thousand farther away than the event horizon. By the time you're anywhere near the event horizon, the effects of the tidal forces are significant.
Sagittarius A*
This is the supermassive black hole at the center of the Milky Way. It masses about 4 million times more than the sun.
$d \approx 8.32 \times 10^{10} m$
$r_s \approx 1.27 \times 10^{10} m$
The two are the same order of magnitude at this size. The black hole is about the size of the Sun, and the Roche Limit is a bit more than the orbit of Mercury at its widest.
NGC 1277's black hole
The largest black hole ever found is the one in NGC 1277. It has a mass of 17 billion solar masses and makes up 14% of the mass of its host galaxy.
$d \approx 1.35 \times 10^{12} m$
$r_s \approx 5.05 \times 10^{13} m$
$d < r_s$.
Which means that for a large enough black hole, so as long as you aren't actually inside the black hole, the planet isn't going to break apart from the tidal forces.
Orbits near a black hole aren't stable, though. You'll need an orbital radius of at least $3 r_s$ if you want it to last. This is only a relevant factor in the largest of the three cases.
Of course, your orbital velocity at the minimum "safe" orbit around a supermassive black hole is around 0.3-0.4c, and you're constantly accelerating in the direction of the black hole, so you'll probably get some weird relativistic effects (I don't know enough general relativity to tell you what they'd be, though). And there's probably no way the planet will be able to keep an atmosphere. And if the black hole is still actively feeding, there will be probably be horrible levels of gamma radiation; I'd recommend an inactive black hole if you want to keep the temperature somewhat reasonable. But for a large enough black hole, as long the planet is outside the event horizon, it'll be an intact uninhabitable, superaccelerated, and possibly molten ball of iron.
Edit: Fixed a major error in calculations that was in the original version (Roche Limit was calculated as $(R_m * 2 M_M/M_m)^{1/3}$ instead of $R_m (2 M_M/M_m)^{1/3}$, which would have placed the Roche Limit inside the event horizon).
Edit 2: There exists a black hole large enough that the original (and much more awesome) conclusion applies: there does exist a black hole where the Roche Limit is inside the event horizon!
"I wanted the black hole and stars being engulfed to fill the sky"
Exactly what that would look like is probably another question you should ask. Light does weird things near that much mass. $\endgroup$