In the Bible we are told that if a thief is breaking in at night there is no guilt in killing him, something further discussed in the Talmud when it says that if someone comes to kill you in the night you are to arise quickly and kill him first.
However we must consider in this that it generally refers to someone coming in the night, presumably willing to kill if someone is home to keep the crime concealed and escape punishment, and that someone breaking in during the day is not to be killed which is interesting in itself.
To me this means that if someone is breaking in when you can call for help to stop him, killing him is not allowed. In modern times that would mean that armed intruders are the ones that are to be killed in self defense, not a just a sneak thief that presents no deadly threat who is to be dealt with differently.
Some discrimination is required here, killing in self defense, IMO, should be a last resort instead of a first one.