I just looked into this recently for a relative who did the same thing, funny enough.
If they're water-based, freezing can partially cure the finish by pulling some of the water out of the emulsion into ice crystals. That will reduce its bonding ability and it may flake off and fail in just a year or two. If it's a clear finish, you can also have a problem with it curing cloudy.
If they're oil based, they are probably OK down to a lower temperature. Usually there's a recommended storage temp range on the can, you might look and see if you're in the clear there.
In either case, you can always thaw them out and see what they look like. Make sure the lids are on tight while they thaw for a few days - you don't want water condensing onto the paint and causing more problems. I think all of the paint companies have toll-free help lines for homeowners too. The Ames Sherwin-Williams (not the greatest paint, I know) gave me a free replacement gallon a few years ago when I told them I'd accidentally left a gallon in my trunk for a day during the summer - they said they'd rather do that than have me use it, and then associate them with a bad paint job. YMMV.
If they're lumpy or gritty and won't stir smooth once they're thawed, I wouldn't risk using them and then having to strip and refinish later.