Choose a sleeping bag that is rated at least 15 degrees F colder than the temperatures you plan to camp in. For example, if you expect the temperature to drop to 30 degrees, you should have a bag that is rated to 15 degrees or, preferably, even lower.
Blow up a thin, inflatable sleeping mat and put your sleeping bag on top of it. This small layer of air between you and the ground will help you stay warm while you sleep, which is when you're most likely to get cold while tent camping.
Put on several layers of warm clothes before you get cold. It's much easier to stay warm than it is to try to warm up after you're already chilled.
Put on a warm hat and keep it on even once you go to bed. This is one of the best ways to retain body heat.
Light a campfire before the sun goes down and sit close to it. Be sure you have plenty of wood to feed the fire as night falls, as the temperature will continue to drop.
Move around the campsite if you start to feel cold, because this will get your blood flowing to help keep you warm.
Stay out of the wind as much as possible, because it robs your body of heat.