ChrisFix has a great tip on how to restore those headlights to their former clear beauty.  From his YouTube Page:

Headlight Restoration using Clear Coat. This video will show you how to clean and restore your headlights so they will never turn yellow or hazy again! You have seen videos on restoring headlights with bug spray, toothpaste, baking soda, and the kits you buy in the store, but all of these methods are temporary and eventually the haze and oxidation will come back.
My method will first make the headlight clear by wet sanding and then put a UV coat on it to seal it in.

Here is the Clear Coat I used: http://www.amazon.com/gp/product/B00K…
Here is where you can get 2000 grit sandpaper: http://www.amazon.com/gp/product/B000…
Here is the wax I used: http://amzn.to/1cxIXj0

Using Bug Spray to Clean Headlights (WARNING!!!): https://www.youtube.com/watch?v=AYmbB…
How to use Toothpaste to Clean Headlights: https://www.youtube.com/watch?v=rXHTX…
How to Remove Moisture from Headlights: https://www.youtube.com/watch?v=KNWTi…

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Disclaimer:
Due to factors beyond the control of ChrisFix, I cannot guarantee against improper use or unauthorized modifications of this information. ChrisFix assumes no liability for property damage or injury incurred as a result of any of the information contained in this video. Use this information at your own risk. ChrisFix recommends safe practices when working on vehicles and or with tools seen or implied in this video. Due to factors beyond the control of ChrisFix, no information contained in this video shall create any expressed or implied warranty or guarantee of any particular result. Any injury, damage, or loss that may result from improper use of these tools, equipment, or from the information contained in this video is the sole responsibility of the user and not ChrisFix.