Indeed, the following are equivalent:
* $X$ is $n$-skeletal.
* Every non-degenerate $k$-simplex of $X$ satisfies $k \le n$.
The downward direction is clear, and for the upward direction, simply note that the inclusion $\operatorname{sk}_n X \hookrightarrow X$ is a bijection on $k$-simplices for $k \le n$.
The nerve of any category with arbitrarily long composable sequences of non-identity morphisms is never $n$-skeletal for any $n$: indeed, any composable sequence of non-identity morphisms of length $k$ gives rise to a non-degenerate $k$-simplex.