Snip selected discolored or misshapen individual plant tips, using small secateurs or shears to remove the freeze-damage. Cut back only dead or damaged tissue, collecting and discarding the cuttings as you work.
Prune freeze-damaged stems down to healthy tissue or down to the base of the plant, just above the soil, if needed. Focus on removing dead tissue but try to distribute the pruning cuts throughout the plant to maintain some symmetry when new growth emerges.
Shear the damaged tips on rosemary plants trained into globe topiary shapes, border edging or low hedging. Use long-blade pruning shears held roughly parallel to the plant surface and remove only as much plant tissue as has been damaged in an even, all-over trim.