I Know this old post but Just wanted to add few points. The standard for such problems is what works best for the situation. understanding the need for such storage, and potential use of the historical/audit/change tracking data is very importat.
Audit (security purpose) : Use a common table for all your auditable tables. define structure to store column name , before value and after value fields.
Archive/Historical: for cases like tracking previous address , phone number etc. creating a separate table FOO_HIST is better if you your active transaction table schema does not change significantly in the future(if your history table has to have the same structure). if you anticipate table normalization , datatype change addition/removal of columns, store your historical data in xml format . define a table with the following columns (ID,Date, Schema Version, XMLData). this will easily handle schema changes . but you have to deal with xml and that could introduce a level of complication for data retrieval .