My dogs only get fed once per day in the afternoon and they happily remind us when the time comes around. I did try feeding them twice a day but they would wake up hungry and want feeding as soon as they woke. This was fine for a while until they realized that as soon as they woke we fed them so they began waking earlier and earlier until we had had enough!
However, my dogs seem perfectly fine with this arrangement but some dogs need more than one meal because of the size of their stomach and the way they digest food. Also young puppies need at least 4 meals a day which can gradually be reduced as they get older.
I have heard of several people (normally dog breeders) who will leave them without food for one day a week. I think this is supposed to help with their body having time to "detox" but I've also heard that it makes them more alert for showing. Personally I don't see the point of starving a dog unless it's ill and my dogs would drive me crazy by telling me in no uncertain terms that I had forgotten to feed them!