I've noticed that Lydia and Breylna only die if you kill them. So, just be aware of were they are in a battle.
They can die from other means.
When they drop to their knees enemy aggro targets you so they can recover but splash damage or an AoE from the enemy can still kill them.
Also if you are hidden or outside enemy ability to detect you and your follower is on his/her knees in the middle of them... you'll see Lydia die pretty damned quick.
Basically they are hard for enemies to kill as long as you are in the fight, but they are not immortal, without you to draw aggro they are actually pretty squishy.