Jelly, 11 10 bytes

ṖṖ€$ƬÆḊṂ>0

Uses Sylvester's criterion.

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How it works

ṖṖ€$ƬÆḊṂ>0  Main link. Argument: M (matrix)

   $Ƭ       Do the following until a fixed point is encountered.
Ṗ             Pop; remove the last row of the matrix.
 Ṗ€           Pop each; remove the last entry of each row.
     ÆḊ     Take the determinants of the resulting minors.
       Ṃ    Take the minimum.
        >0  Test if the least determinant is positive, i.e., if all determinants are.