Paid $1500 under MSRP for my Specialized Roubaix Expert (Test bike, so it'd been ridden some)
Paid $1100 under MSRP for my Specialized Stumpjumper Expert (new)

Both were purchased once the new model year was starting to hit the floors, and both were marked down significantly. Haggling got me $200 worth of those discounts in each case.

Moral of the story, finding the big sale is much more important than the haggle. For the stumpjumper, I visited 12 bike shops over a weekend to find the best deal I could. Prices on the Stumpjumper varied by $800 between the stores that had their "all 2011 bikes must go!" pricing out. A couple were still charging MSRP.