As jjrandorin wrote, the only extra time/energy would be to initially heat the battery. It's not a lot of time if you are charging on 240 volts. The energy waste would be the same for all but the very lowest charge rates because heat is being lost via the air at the same time its being heated. To give an idea, the charge rate might be limited for 10-15 minutes after connecting, and during that time the car will be drawing less than the maximum amps its presented with(assuming a >=32 amp 240 volt circuit)
You can easily minimize the lost energy and time by plugging in immediately after driving the car. That might not play well with time-of-use energy costs, though.