It all depends on the mix you are using, on the temperature of the concrete on delivery, and on the efficiency of your insulating blankets. I've done jobs where the concrete itself generated enough heat to cure itself even in very cold (below freezing) temps were experienced. On the other hand, if concrete is delivered cold (say, 60 or below) and is covered only with tarps and not insulating blankets, it's likely to be too cold to cure properly.
In short, without monitoring the in-place temps as the concrete cures there is no way of knowing how long you need to leave protection on it--or how long you must wait before stripping formwork, for that matter.
--John Gnaedinger