There's been no difference in performance since at least Chrome 47.0.2526.80 (64-bit).
Testing in Chrome 6.0.3359 on Mac OS 10.13.4
-----------------------------------------------
Test               Ops/sec
non-frozen object  106,825,468  ±1.08%  fastest
frozen object      106,176,323  ±1.04%  fastest
Performance test (available at http://jsperf.com/performance-frozen-object):
  const o1 = {a: 1};
  const o2 = {a: 1};
  Object.freeze(o2);
  // Non-frozen object:
  for(var key in o1);
  // Frozen object:
  for(var key in o2);
Update 30.10.2019: There's no difference in performance on Chrome 78.0.3904 (64-bit)
Update 17.09.2019: There's no difference in performance on Chrome 76.0.3809 (64-bit)
Update 03.05.2018: There's no difference in performance on Chrome 66.0.3359 (64-bit)
Update 06.03.2017: There's no difference in performance on Chrome 56.0.2924 (64-bit)
Update 13.12.2015: There's no difference in performance on Chrome 47.0.2526.80 (64-bit)
With Chrome 34, a frozen object performs slightly better than a non-frozen one in @pimvdb's test case (results below). The difference, however doesn't seem to be large enough to justify using this technique for performance benefits.
http://jsperf.com/performance-frozen-object
Testing in Chrome 34.0.1847.116 on OS X 10.9.2
----------------------------------------------
Test               Ops/sec
non-frozen object  105,250,353  ±0.41%  3% slower
frozen object      108,188,527  ±0.55%  fastest
Running @kangax's test cases shows that both versions of the object perform pretty much the same:
http://jsperf.com/performance-frozen-object-prop-access
Testing in Chrome 34.0.1847.116 on OS X 10.9.2
----------------------------------------------
Test               Ops/sec
non-frozen object  832,133,923  ±0.26%  fastest
frozen object      832,501,726  ±0.28%  fastest
http://jsperf.com/http-jsperf-com-performance-frozen-object-instanceof 
Testing in Chrome 34.0.1847.116 on OS X 10.9.2
----------------------------------------------
Test               Ops/sec
non-frozen object  378,464,917  ±0.42%  fastest
frozen object      378,705,082  ±0.24%  fastest