The Randomized Singular Value Decomposition (RSVD) is a widely used algorithm for efficiently computing low-rank approximations of large matrices, without the need to construct a full-blown SVD. Of interest, of course, is the approximation error of RSVD compared to the optimal low-rank approximation error obtained from the SVD. While the literature provides various upper and lower error bounds for RSVD, in this paper we derive precise asymptotic expressions that characterize its approximation error as the matrix dimensions grow to infinity. Our expressions depend only on the singular values of the matrix, and we evaluate them for two important matrix ensembles: those with power law and bilevel singular value distributions. Our results aim to quantify the gap between the existing theoretical bounds and the actual performance of RSVD. Furthermore, we extend our analysis to polynomial-filtered RSVD, deriving performance characterizations that provide insights into optimal filter selection.