Definitely, even using a non Nokia brand compatible battery or copy/clone battery technically voids the warranty. But how are the people at the repair center they going to know unless you walk into the Nokia Care Center with the wrong battery installed in the phone. Also, I have yet to see a phone damaged by using a non-Nokia copy or clone battery. So I wouldn't worry about voiding the warranty. The only thing to worry about is whether it will damage your phone or provide substandard performance.
Although I'm definitely not recommending using non-Nokia batteries in your phone, I would note that I have actually used some pretty good non-original Nokia batteries, that especially I like to use when tethering my phone to a laptop which puts a lot of stress on the battery. I would rather put that kind of stress on a cheap US$11 clone battery than the expensive original Nokia battery. I don't feel bad about wearing out a cheap clone battery quickly. Generally, the original batteries provide a bit longer talk and standby time but they are expensive compared to the copy batteries.
Currently using 6300 & 6233 (backup)