A fully charged battery will not freeze (at least not at temperatures we see here in Vermont). It should be noted that while a battery's rate of self discharge is slower in colder temperatures, the battery also puts out less in the cold, and engines are harder to crank in the cold (oil thickens, clearances shrink, etc.) So even you a battery may hold a higher % of it's full charge after a month or two of disuse in the winter, that still may not be enough to start the engine to which it's attached. That's usually when people around here discover that their battery is no longer doing the job -- they might get by with a weak one in warmer temps, but they need one in top shape in the winter.
In really cold climates, people sometimes add a battery heater as well as a block and/or oil heater. I've never used a battery heater. I've often wondered if the heater was powered off the battery whether the heater gets you more benefit than the drain on the battery it causes. (I assume if the heater is powered by the battery, you shut it off before starting.)