You did not say what size solar panel you have. The smaller ones (<10W) can usually be connected directly to the battery as they are designed for trickle charging. Measure the maximum voltage at the panel (with no battery connected), if it is around 16-17V its a trickle charge panel. The bigger solar panels have more cells ( 36 against 30), have an open circuit voltage of >20V and need a regulator to manage the charging current.
Klaus