Just want to add a small comment upon Geoff's excellent answer.
One may be tempted to think that a $<\pu{10 cm-1}$ imaginary frequency introduces a negligible error to the energy or the property of interest, and this is usually true. But one frequently overlooks the fact that, even an infinitesimal imaginary frequency has a finite impact on the Gibbs free energy, and that finite impact is usually non-negligible.
To see this, consider a molecule whose lowest frequency is only slightly above zero. In the RRHO approximation (as used by programs like Gaussian), this vibrational mode gives a very negative contribution to the Gibbs free energy, which diverges logarithmically to negative infinity as the frequency approaches zero:
\begin{align}
G(\nu)
&= \frac{1}{2}h\nu + kT\ln \left(
1 - \exp\left\{-\frac{h\nu}{kT}\right\}
\right)\\
&= \frac{1}{2}h\nu + kT\ln \left(
\frac{h\nu}{kT} + O(\nu^2)
\right). \tag{1}
\end{align}
This is a result of the logarithmic divergence of the entropy:
\begin{gather}
S(\nu)
= k\left[
\frac{h\nu}{kT\left(
\exp\left\{\frac{h\nu}{kT}\right\} - 1
\right)} - \ln\left(
1 - \exp\left\{-\frac{h\nu}{kT}\right\}
\right)
\right]. \tag{2}
\end{gather}
But when $\nu$ is imaginary, it contributes zero to the Gibbs free energy (and the entropy), because only real frequencies enter the partition function. Therefore, if a small positive frequency is erroneously calculated as imaginary, there is a positive error in the Gibbs free energy, and that error can be arbitrarily large even if the error in the frequency is infinitesimal! (The good news is, because the divergence of the RRHO Gibbs free energy is only logarithmic, the probability of having a certain magnitude of error decreases exponentially w.r.t. the error magnitude.)
Things improve somewhat with programs like ORCA or Turbomole, which use the quasi-RRHO (or QRRHO) method[1] instead. In the QRRHO method, the limit $G(\nu=0)$ is regularized to a finite value, which numerically equals to $\pu{-2.68 kcal/mol}$. So with an infinitesimal error in the frequency you can make an error of up to $\pu{+2.68 kcal/mol}$ in the Gibbs free energy, which is still quite sizeable for most studies! Even worse you may have more than one false imaginary frequency per molecule, and as the errors are always positive, they add up.
The lesson is that, numerical error-induced imaginary frequencies are much bigger problems for Gibbs free energies than for most other properties, and a small (even infinitesimal) imaginary frequency does not guarantee a small error in the Gibbs free energy. This is due to the fact that the Gibbs free energy is not a continuous function w.r.t. the frequency when the latter changes from real to imaginary.
References:
- Grimme, S. Supramolecular Binding Thermodynamics by Dispersion-Corrected Density Functional Theory. Chem. Eur. J. 2012, 18 (32), 9955–9964. DOI: 10.1002/chem.201200497.