Older rechargeable battery technologies, like NiCad did suffer from a memory effect whereby if they weren't fully discharged before being recharged they would begin to lose their capacity. However, most laptops these days have Lithium Ion batteries which do not exhibit this characteristic.
Even modern batteries do however have a lifetime related to the number of charging cycles they go through. Once the battery has been charged and discharged a certain number of times (typically a few hundred) its ability to perform deteriorates and you'll notice it as decreased battery life. Replacing laptop batteries is shockingly expensive.