There are many ways to do this. Here's one I picked from google images that would work, and is one of the simplest:
Have the "12V" come from the battery, and have the power to the driver go through the relay. The parasitic draw would be quite high, >100mA which would drain your pack in a couple days, so your power switch should probably go in series with the relay coil. Add a flyback diode (google it) to the coil. This would lower your parasitic draw to ~3mA which isn't too bad.
Add a volt or so to the zener value to figure your cutoff voltage. 12V zener would cut the voltage off a bit over 13V. 10V zener would cut if off a bit over 11V etc.
Before anyone jumps on me with "USE A FET YOU MORON

" I'll point out that I'm going for simplicity. Gate drive is a lot more picky than coil drive, and adding the needed hysteresis to the system complicates things.