The answer is in the title of your thread. Fit a pipe thermostat on the return pipe after the last radiator, but before the boiler and wire it in series with your frost thermostat, The setting will depend on where the thermostat is located, but it needs to be about 10 higher than the ambient temperature of the place it's located.
When the frost thermostat switches on the boiler, hot water is circulated around the radiators and pipe system, but before it gets too hot, when the warm water gets back to the pipe thermostat, it turns off the boiler. After a while when the temperature drops in the pipe, it will start up again and the process is repeated.
Make sure the pipe thermostat is sufficiently far from the boiler to prevent residual heat from the boiler reaching it by conduction and keeping it switched off.
Many cylinder thermostats can be used as pipe thermostats, they simply clamp on to the pipe using a spring.
As an alternative, if your pipe layout will allow it, you could re-position the existing frost thermostat immediately above a section of pipe with a small piece of insulation the length of the thermostat removed. That way, heat rising from the pipe will turn the frost thermostat off when the pipe gets warm. I have seen this in operation and it works, but if the frost thermostat fails, by removing a piece of insulation albeit small, you are increasing the chance of a frozen pipe.