Earth is big.[citation needed]
The mass of Earth is about $6 * 10^{24}$ kilograms. Not all of that mass is usable to make spaceships, of course, but let's just hand-wave that and look purely in terms of how much stuff we have.
The Star Trek spaceship USS Enterprise is 3,205,000 metric tons; that's $3 * 10^9$ kilograms.
In one year, there are about $3.154 * 10^7$ seconds.
If we were to launch one USS Enterprise from Earth every second, it would take 590,805 years to reduce the mass of Earth by one percent.
In half a million years of interstellar spaceflight and expansion, we'd surely find other sources of building material as well. From a pure mass point of view, Earth will be fine.
Now, like I said, not all of Earth's material can necessarily be converted into spaceships. We may need to find other sources of some materials faster than others, but that's what the vast expanse of space is for. As we expand into new star systems, we can start dismantling other barren worlds, many of which are even bigger than Earth.
EDIT:
@Dercsar made a good point in the comments, that the reduced mass of Earth would shorten the length of the days. Fortunately angular momentum is easy to work with. Assuming the radius of Earth stays the same (which seems logical enough, since we would keep our houses and such where they are), the only two variables are mass and time. It works out that to reduce the length of a day by one second, we need to reduce the mass by about $7 * 10^{19}$ kilograms. That's $2.3 * 10^{10}$ USS Enterprises, which would take just over $729$ years at one spaceship per second. The good news is that it would in actuality take much longer than that (as one spaceship per second is simply not feasible), and when we finally do launch that much mass, we won't need to add a leap second nearly as often!