Your car battery is 12 volts. It will fry you quite effectively. On the other hand when you get a zap from touching a doorknob that's thousands of volts. Harmless.
Voltage is just a measure of potential energy between two points. Current is actual electrical charge moving around and that's what kills you if there's enough of it.
That said, I'd still find the charge coming out of a DC charging cable to be pretty unlikely to be sufficient to kill you.
“Your car battery is 12 volts. It will fry you quite effectively.”
With some very rare exceptions, 12v is not enough to pernitrate dry human skin. Even wet skin typically has enough resistance to prevent any harm, but might allow an unpleasant shock or sensation.
People who are harmed by 12v electrical systems are injured by the arc resulting from any type of short as they are about the temperature of the sun...so...