Yes, Jwet's suggestion to use a power supervisor IC is the right way to go about it. Masochists might build that functionality with a voltage reference, a pair of window comparators, one for each rail and a retriggerable delay, but when you can get it all in one IC for not a lot of money that's not the smart way to do it.
If you need power rails that cleanly transition from OFF to ON, take the POWER_GOOD signal from the supervisor circuit and use it to gate a pair of MOSFETs, a NMOS in the negative rail and PMOS in the positive rail, with gate resistors chosen to keep the inrush current within the MOSFET's SOA. An even better solution is to use automotive protected high side, and low side, switch ICs (instead of the MOSFETs) which basically give your power rails overload protection + the switching you need.