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I have made up the sentences below.

(1) It was minus twenty degrees Celsius for six days. When I walked around outside, I shook very badly.

(2) It was minus twenty degrees Celsius for six days. When I walked around outside, I trembled very badly.

Most of my non-native English speaking friends think "trembled" is wrong and "shook" is the better choice.

I am not sure if they are correct. Please help me. Thank you very much.

Both verbs are possible but have you considered "shiver"? This verb actually means "shake/tremble uncontrollably as a result of being cold".

It was minus twenty degrees Celsius for six days. When I walked around outside, I shivered badly.

Also, "trembled" is used with a reaction or emotion, such as fear typically and "shook" with a specific body part (my hands shook). Shiver in this case is in fact ideal.