Temperature sensing is a fundamental biological process that allows organisms to detect and respond to environmental. Ion channels that gate in response to temperature changes, known as thermoreceptors, play key roles in this process. Although the phenomena affected by temperature in many thermoreceptors have been widely studied, the molecular mechanisms by which these proteins sense temperature remain controversial and poorly understood. Here, we investigated the molecular details of temperature sensing in a thermophilic bacterial ion channel, SthK from Spirochaeta thermophila, a homologue of mammalian hyperpolarization-activated and cyclic nucleotide-modulated (HCN) channels with well-characterized structure and function. We show that SthK is a cold-sensitive ion channel, displaying higher activity when temperatures are decreased below 30 {degrees}C. Intriguingly, the SthK cold sensitivity is highly dependent on the lipid composition, being sensitive in the presence of amine-containing lipids, and insensitive in the presence of anionic lipids. By combining cryo-EM structural analysis, mutagenesis, and functional assays, we demonstrated that a functionally important intersubunit salt bridge that was previously shown to be important in lipid modulation, acts as the temperature sensor in these channels. This salt bridge is state-dependent, stabilizes closed states, and needs to break for the channel to open. Lower temperatures that weaken salt bridge interactions thus favor channel opening. Lipid-binding at this location tune temperature sensitivity by modulating the salt bridge strength through their headgroup charge and size. Interesting to note, equivalent salt bridges are also found in other ion channels such as HCN channels and, notably, TRPM8, an established cold-sensitive thermoreceptor, suggesting that this mechanism could be conserved in other temperature-sensitive ion channels. Our findings highlight a finely tuned interplay between structural elements and membrane environment, suggesting that thermosensitivity can emerge from the cooperative effects of salt bridge energetics and lipid context.