Well you should give it time to warm up. And then try again. Maybe an hour or two. Cold definately can have an effect on older/cheaper hard drives.
If you don't hear any clicking, then the drive should be fine. The cold can't physically damage the drive, unless you try to read/write to it alot between now when it is cold and when it is warmed up.
If the BIOS can see the drive then that is a big thumbsup!
Have you tried it in a USB enclosure?