In my experience, positively employing defensive programming does not necessarily mean that you end up improving the quality of your code. Don't get me wrong, you need to defensively program to catch the kinds of problems that users will come across - users don't like it when your program crashes on them - but this is unlikely to make the code any easier to maintain, test, etc.
Several years ago, we made it policy to use assertions at all levels of our software and this - along with unit testing, code reviews, etc. plus our existing application test suites - had a significant, positive effect on the quality of our code.
