Minimum voltage
Anything above 2.15 volts per cell will charge a lead acid battery, this is the voltage of the basic chemistry. However, most of the time a higher voltage is used because it forces the charging reaction at a higher rate. The voltage to avoid is the gassing voltage, which limits how high the voltage can go before undesirable chemical reactions take place. The typical charging voltage is between 2.15 volts per cell (12.9 volts for a 6 cell battery) and 2.35 volts per cell (14.1 volts for a 6 cell battery). These voltages are appropriate to apply to a fully charged battery without overcharging or damage. If the battery is not fully charged you can use much higher voltages without damage because the charging reaction takes precedence over any over-charge chemical reactions until the battery is fully charged. This is why a battery charger can operate at 14.4 to 15 volts during the bulk-charge phase of the charge cycle.