Expert answers: is it damaging to drive a car on empty?

Many drivers have been in their car with a petrol light on and said the words "it's fine, there's more than enough petrol left". If you are not this kind of driver, being a passenger and seeing the light and hearing these words can be anxiety-inducing.
Rob Forbed and Rozanne McKenzie spoke to Jason (from Ferrari) and asked him to settle this. Are you damaging your car by driving on an empty tank?