Beware the voltage varies with temperature. These are some generic specs I've found while looking for thumb rules:
Lead Acid generic specs
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At a comfortable temperature of 20°C (68°F), gassing starts at charge voltage of 2.415V/cell. When going to -20°C (0°F), the gassing threshold rises to 2.97V/cell.
Battery status -40°C (-40°F) -20°C (-4°F) 0°C (32°F) 25°C (77°F) 40°C (104°F)
Voltage limit on recharge 17.1 16.2 15.3 14.7 14.1
Float voltage at full charge 15.3 14.7 14.1 13.8 13.5
or lower or lower or lower or lower or lower
gassing at 20*C for V >= 14.4V
nominal, no load = 12.6V
floating charge = 13.5...13.8V
Note that the typical 14.4V is the stop charging voltage, not the floating voltage. Float charging (when a voltage source is kept on the battery at all times) is to be done at lower voltage, typical is 13.8V, but read the markings/label printed on the battery's body.
Best thing to do to identify proper voltages is to read the battery label, and if possible, find the battery specs/datasheet for your particular brand and model. Lead acid batteries are similar but they are not the same. Follow the battery manufacturer's instructions.