Even if it's left 'on', the drive will still spin up and down, which is what will happen when you power it on and off in order to make use of it. So, overall, not a whole lot of difference as long as the actual use of the drive doesn't change.
If you have a Bloody Daft Firmware (TM) NAS box, for example the Seagate Central, then you might want to pull the plug on this if not in use, because the stupid thing responds to all manner of rubbish (e.g. uPNP network traffic from the router) as a cue to spin up and so wastes electricity and reduces its likely operational lifetime needlessly.