It might affect the battery life negatively in the beginning, but I don't think it'd be a permanent issue. Batteries operate on the 'use it or lose it' scheme as far as I know, so I always let the charging go to zero or very low before I recharge my stuff.
According to an explanation I read somewhere, let's say that the higher the battery percentage, the higher the level of filled-up 'cells.' If you charge it when the battery is just halfway, then you're not exercising the lower cells. When they do come in use, they'll be emptied very quickly because they're not used to providing power. So if you want to get the most out of a handheld or laptop's battery life you should recharge them only when their battery is in the very-low zone.
I'm keeping my handhelds and the laptop I use in view, since I don't keep nasty objects such as phones. They should operate on the same principle though. My sister didn't fully charge the phone she recently bought before using it and it's giving her a fine bit of trouble now; the battery suddenly goes to zero when it was halfway a moment ago.