Cooperative diversity systems are wireless communication systems designed to exploit cooperation among users to mitigate the effects of multipath fading. In fairly general conditions, it has been shown that these systems can achieve the diversity order of an equivalent MISO channel and, if the node geometry permits, virtually the same outage probability is achieved as that of the equivalent MISO channel for a wide range of applicable SNR. However, much of the prior analysis has been performed under the assumption of perfect timing and frequency offset synchronization. In this paper, we derive the estimation bounds and associated maximum likelihood estimators for frequency offset estimation in a cooperative communication system. The cooperative nature of the system is utilized to reduce the estimation error with respect to standard (non-cooperative) frequency estimation algorithms. For a worst case frequency offset distribution among the nodes, we show that this estimator is optimal in the sense of estimation error variance.