Solar panel question

I need to use solar panels to charge lead acid batteries in an off-grid application. I understand that solar panels have a open circuit maximum voltage and an maximum amperage under no resistance, and that one can optimize the power output by regulating the load (resistance). If so, is just connecting 12 -volt solar panels to a lead-acid battery inefficient? Are there devices that will maximize 12 volt output power (by varying the resistance)? Am I on the right track here? Thanks for any help.