Inspired by lericson's answer, this is my final solution for CakePHP 2.x:
<?php echo $this->Form->create('ModelName', array(
'class' => 'form-horizontal',
'inputDefaults' => array(
'format' => array('before', 'label', 'between', 'input', 'error', 'after'),
'div' => array('class' => 'control-group'),
'label' => array('class' => 'control-label'),
'between' => '<div class="controls">',
'after' => '</div>',
'error' => array('attributes' => array('wrap' => 'span', 'class' => 'help-inline')),
)));?>
<fieldset>
<?php echo $this->Form->input('Fieldname', array(
'label' => array('class' => 'control-label'), // the preset in Form->create() doesn't work for me
)); ?>
</fieldset>
<?php echo $this->Form->end();?>
Which produces:
<form...>
<fieldset>
<div class="control-group required error">
<label for="Fieldname" class="control-label">Fieldname</label>
<div class="controls">
<input name="data[Fieldname]" class="form-error" maxlength="255" type="text" value="" id="Fieldname"/>
<span class="help-inline">Error message</span>
</div>
</div>
</fieldset>
</form>
I basically added the 'format' and 'error' keys, and added the control-label class to the label element.
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