For LiPo packs, for each cell, do not go below 3.0v, and *try* to stay above 3.3v -- consider 3.3v as 0% resting capacity (voltage when it's had a chance to rest 15-60s after running a load) . . . but if you want long life, stay away from 3.3v.
Looking at the discharge curves, mAh capacity remaining vs voltage, the rememaing capacity drops off rapidly around 3.7v. Typically it takes just about as much energy to go from 3.8v->3.7v, than it does to go from 3.7->3.3. This is due to the changing chemestry around that voltage -- the reversable reactions (read: rechargable) begin happening less frequently and the irreversable reactions (read: damaging) begin to hapen with increasing frequency. Going down to 3.3v resting will not destroy your battery, but it certianly isn't healthy for it.
Typically I fly with a voltage alarm plugged into the balance port. This will beep LOUDLY whenever a cell goes below a set voltage. I use one of this design:
Available almost anywhere, with varying price, but it has two main features you want -- loud alarm and ajustable voltage. Why adjustable? becasue the target 3.7v is for *resting* voltage, but the meter measures *loaded* voltage, which can be quite different. When I fly a plane with a new power system, I'll need to calibrate that set voltage. to do so, I'll set it too high, like 3.7v, then fly until it beeps at cruising speed (not at full throttle, unless I plan on staying at WOT), land wait a minute and check the voltage. If it's still above 3.7v, I adjust it down a step and fly again until it beeps. repeat until at cruising speed it beeps and after landing and resting it measures 3.7v.
If I always use the same battery on that plane, I'll scribble the setting next to where I mount the alarm. More often than not it ends up around 3.2-3.4v, but on some planes (like my lighted glider) since the draw at cruise speed is soooooo low, it's set at 3.7v.
Fully charged, it should read around 4.2v/cell, and be ballanced (equal voltage) across each cell. Frankly, anything above 4.0v/cell I consider "full", but it's rare I'll have a pack less than 4.1v but more than 3.8v.