I was spanked as a kid by my mother, and there was no lasting damage, either physical or psychological. In fact, I was more psychologically damaged from the bullying I endured in middle school than the spanking I received when I was being (for lack of a better term despite the fact I absolutely hate this word) naughty. And I have no problems in having the same done to my kids if I ever have them. The actual spanking I would leave to my wife -she would be the disciplinarian in the household.
It's not always about psychological damage. I just find that improper discipline (or lack thereof) techniques can make kids into monsters.