Depends on a number of factors, including whether you are talking about a deep cycle battery or a starting battery, the age/condition of the battery when the "full" discharge happens, and exactly how discharged the battery becomes.
Discharge an older battery deeply enough and you can definitely destroy it for good (Kevin, ask me to tell you how I know this next time around the campfire

). On the other hand, for a newer battery or a little less deep discharge you may get away with it, but you probably have affected the lifetime of the battery.
For deep cycle batteries, the general rule of thumb is not to discharge below 20% of charge or you begin to affect the number of charging cycles the battery is capable of in its lifetime. For a starting battery a similar rule of thumb is not to go below 50% charge.
This is good info.
While a good battery can be brought back from this abuse(full discharge) it has still been abused, and lost some capacity in doing so. The longer the battery has sat at those extremely low voltages, the less likely it is to recover. The health of the battery at the time of full discharge has a big effect too.
Perhaps draining them overnight with a 20 amp load like the headlights, then a prompt recharge is much less detrimental then say a single dome light taking 3 weeks to deplete them to the same level.
While some deep cycle batteries say they can be cycled down to 20% without damage, most advise not going below 50%. I have never read any that said full 100% discharges could be done without damage. They might recover, but they have been damaged and lost capacity. I have heard with starting batteries, 80% is the percentage not to go below for maximum longevity.
The shallower the discharge, the longer any lead acid battery will last
The quicker the battery is fully recharged, the longer the battery will last.
If the battery is left plugged into a float charger at 13.2 to 13.6 volts, every couple weeks the voltage should be briefly brought up into the high 14's.
The following is typed without a negative tone or sarcasm.
The Optima techs and dealer who said they fully discharge the batteries before shipping must be wrong, incorrectly informed, or both. It takes a significant amount of energy and time to fully charge a battery and this does not fit in with the bean counter, maximum profit at any cost mentality which pervades modern culture to a sickening degree. I have heard from someone who worked in an AGM factory that they blasted the AGM's with so much amps before leaving the factory that the vents were whistling. This hardly seems the right treatment for batteries either. It must be done with the confidence that the batteries will withstand such abuse, but, it is still abuse.
Lead acid batteries have no memory effect.
If anybody is interested in the the most recent battery info, the following link is the authority. It has hours and hours of reading, and many links to many hours more.
http://www.batteryfaq.org/