We have developed a model for neutrino-induced coherent pion production off nuclei in the energy regime of interest for present and forthcoming neutrino oscillation experiments. It is based on a microscopic model for pion production off the nucleon that, besides the dominant Delta pole contribution, takes into account the effect of background terms required by chiral symmetry. Moreover, the model uses a reduced nucleon-to-Delta resonance axial coupling, which leads to coherent pion production cross sections around a factor of 2 smaller than most of the previous theoretical estimates. In the coherent production, the main nuclear effects, namely, medium corrections on the Delta propagator and the final pion distortion, are included. We have improved on previous similar models by taking into account the nucleon motion and employing a more sophisticated optical potential. As found in previous calculations the modification of the Delta self-energy inside the nuclear medium strongly reduces the cross section, while the final pion distortion mainly shifts the peak position to lower pion energies. The angular distribution profiles are not much affected by nuclear effects. Nucleon motion increases the cross section by similar to 15% at neutrino energies of 650 MeV, while Coulomb effects on charged pions are estimated to be small. Finally, we discuss at length the deficiencies of the Rein-Sehgal pion coherent production model for neutrino energies below 2 GeV, and, in particular, for the MiniBooNE and T2K experiments. We also predict flux-averaged cross sections for these two latter experiments and K2K.