Short answer is- maybe. Verizon Warranty is voided when they find it's been rooted/altered. Asurion doesn't follow the same rules. They wouldn't question a phone that shattered beyond operation, but if they delve into your returned phone, IF, then you run the risk of them charging you an additional 200-300 dollars for the replacement phone, if they want to nit-pick. Best bet is to RSD back to stock (please remember to fully charge your battery first), and then make the claim.
Droid RAZR XT912 (Daily Commuter) - LiquidSmooth 2.9
Galaxy S3 SCH-i535 - Stock
Galaxy S Fascinate SCH-i500 - Super Frankenclean 2.8
Motorola Droid 2 A955 - Stock
Droid X MB810 - Stock, and limping