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My Mazda Demio is Auto, I do not have a garage for the car, it is used 2-3 times a week and we are subject to reasonably heavy frosts.
The battery has never let me down and there is no suggestion that it will, but I have noticed that it does"struggle" on a cold frosty morning.
Are there any protective measures that can be taken to keep the battery better able to handle cold frosty mornings?

On a car that only gets minimal use, the battery is not always in a fully charged state, so this could be the reason you are finding it a little sluggish on cold mornings.
A battery maintenance charger is a good option to keep the battery topped up when the car is getting little use. These chargers are designed to be permanently connected and sense when the voltage is dropping, so top up the battery.
However, if the car is kept outside, this could pose a problem for you. Short of having the battery charged occasionally, there's very little you can do.
To check whether it is a battery issue, it might be a good idea to have a mechanic test the battery and perhaps give it a charge.
If you decide to go with a battery maintenance charger, contact AA Battery Service on 0800 500 222.