Stanley proved that for any centrally symmetric simplicial $d$-polytope $P$ with $d\geq 3$, $g_2(P) \geq {d \choose 2}-d$. We provide a characterization of centrally symmetric $d$-polytopes with $d\geq 4$ that satisfy this inequality as equality. This gives a natural generalization of the classical Lower Bound Theorem for simplicial polytopes to the setting of centrally symmetric simplicial polytopes.