LEAD / ACID battery NFO:

This table will show you , when the battery freezes.  ( -95 degree's F is very cold )  Keep it charged and it will not freeze.

1: The state of charge [SOC] on the battery at room temperature (20°C);   [ meaning you can measure the voltage and know the charge]

2.: The point the battery will freeze. ( good to know if you live up north )

Discharged lead-acid batteries exposed to cold temperatures are subject to plate damage due to freezing of the electrolyte.
To prevent freezing damage, maintain each cell’s specific gravity at 1.275, or for sealed lead-acid batteries check “open” circuit voltage. 

. Lead-acid battery electrolyte freezing points.

Some Makers of batteries, have different voltages for fully charged,  see their web site for your battery performance. 
  Specific                            Freeze Point                 State of  Charge at 70 deg F.  ( a very crude chart see this for more accuracy on SOC)
Gravity
        C.
          F.
    SOC
        12-volt

1.300
  -70
  -95
  100%
    12.9

1.275
  -62
  -80
  75%
    12.7

1.250
  -52
  -62
  50%
    12.4

1.225
  -37
  -35
  25%
    12.0

1.200
  -26
  -17



1.175
  -20
  -4



1.150
  -15
  +5



1.125
  -10
 +13



1.100
  -8
  +18




As one can see , one would have to be in an extremely cold climate to freeze a fully charged battery.  
-95 degrees Fahrenheit , that is darn cold.
This number comes  from the FAA tables , see  PDF document here.
So , if you don't live in , lets say:
Prospect Creek Camp in the Endicott Mountains of Northern Alaska ( lowest in US -80f)

AND you keep your battery above 75% charged, your battery won't split open.  ( wind chill effect , not withstanding).