You can buy a kit from many auto parts supply stores. It consists of two pieces of sandpaper of varying grit size (one fine and one really fine), some wipes to prep the surface and a liquid polymer solution. I've done this to my car and it makes the headlights look absolutely new. The opaque appearance is due to an irregular surface on the plastic surface of the lens. This is likely due to UV damage. To use the kit, you sand off this damaged surface and produce a uniform surface. The surface will appear frosted when dry but looks absolutely clear when wet. The sanded surface is filled with a polymer film former which has a refractive index close to that of the base lens material.
Costs about $20 and the kit does both lenses (WalMart Automotive dept.)