We report an experimental demonstration of thermal tuning of resonance frequency in a planar terahertz metamaterial consisting of a gold split-ring resonator array fabricated on a bulk single-crystal strontium titanate (SrTiO₃) substrate. Cooling the metamaterial starting from 409 K down to 150 K causes about a 43% shift in resonance frequency, and there is very little variation in resonance strength. The resonance shift is due to the temperature-dependent dielectric constant of the strontium titanate. The experiment opens up avenues for designing tunable terahertz devices by exploiting the temperature-sensitive characteristic of high dielectric constant substrates and complex metal oxide materials.