I traded up to a 2016 90D this summer, and with a brand new battery I was inspired to dig into the charging question again. There is surprisingly little official information about the "ideal" daily charge level for long battery life. So I consulted an expert I know inside Tesla, as well as an outside engineer who does charging-related consulting for Tesla. Here's the scoop...
The Model S and Model X battery has an automatic balancing routine that is triggered when the battery is charged to 78% or higher. If the battery is repeatedly charged to a lower level over a long period of time, the cell modules will become out of balance with one another, leading to pack that runs hotter.
A charge cycle is defined as a full charge from about 3 volts to 4.2 volts per cell. If your car is about half full and you charge it to 100% that is considered to be half a cycle and has less than half the impact on your battery health than a full cycle. It's much easier on your battery health to perform many small cycles than a few deep cycles. Tesla recommends charging your battery every day for a reason. It's better for battery longevity.
Charging your battery to below 80% every day (for example 60%) provides little or no benefit and a couple of serious disadvantages. The first and biggest issue with only charging to about 60% everyday is that you are constantly driving your car at a lower voltage. Why is that bad? Because everything runs hotter at a lower voltage. Your battery's biggest enemy is heat. Driving every day at a lower state of charge will cause it to always run hotter and consequently degrade faster. Your motor(s) and power electronics will also run hotter which causes them to wear out sooner as well. Charging to only 60% every day is better for your cell phone, but not your car.
The other problem with only charging to 60% every day is your battery will often be out of balance. The reason that's bad is the cells wear out unevenly. Cells at a lower state of charge will heat up more than others while driving and consequently wear out quicker. Since the whole pack is only as good as the lowest performing cell group, wearing one of them out quicker degrades the whole pack quicker. Therefore it's important to charge your car high enough that automatic balancing kicks in on a regular basis.
Bottom line: 80% is the ideal daily charge, and you should plug in as often as possible.