No its not ok, lead acid battery in deep discharge state drain high current, and you need to limit current.
Lead acid batteries require voltage and current controlled chargers.
14,2V-14,4V is cycling voltage, and this voltage point is used when battery is deeply discharged (under 50% of capacity).
13,5V-13,8 is float charge voltage, used for float and for recharging battery in semi discharged states.
Best is to read manufacturer datasheet for your battery.
When battery voltage reach 14,4V, charger voltage should be terminated or switched to float charge voltage.