Different breeds of dogs can survive different temperatures. Some dogs are bred for the freezing weather, while some will become sick very quickly.
A dog that has short hair is more likely to suffer in cold weather. Huskies and similar breeds are made for the freezing temperatures. However, even northern breeds might still have an issue, if not accustomed to the climate. There is no set temperature at which a dog should be brought inside. Pay attention to the signs that the dog is cold. It may start shivering or whimpering when it is too cold. If the dog must be left outside, provide a warm shelter and a bowl of water that will not freeze.