We report on experimental and theoretical studies of the fluctuation-induced escape time from a metastable state of a nanomechanical Duffing resonator in a cryogenic environment. By tuning in situ the nonlinear coefficient $\gamma$ we could explore a wide range of the parameter space around the bifurcation point, where the metastable state becomes unstable. We measured in a relaxation process the distribution of the escape times. We have been able to verify its exponential distribution and extract the escape rate $\Gamma$. We investigated the scaling of $\Gamma$ with respect to the distance to the bifurcation point and $\gamma$, finding an unprecedented quantitative agreement with the theoretical description of the stochastic problem. Simple power scaling laws turn out to hold in a large region of the parameter space, as anticipated by recent theoretical predictions. These unique findings, implemented in a model dynamical system, are relevant to all systems experiencing underdamped saddle-node bifurcation.