1994 Ford Ranger Truck wont start possible starter

I drove my truck to a friends house and accidentally left my lights on. So my batery was dead. I attempted jump starting it but it would not turn over. The next day i pulled the battery and put it on a charger. The battery is fine and is fully charged. All of the connections are good. All electrical works in the truck. I can push start it and it drives just fine but when i try and turn it over the starter does not even click. I have a hard time believing it is the starter because it gave me no warning. what could my problem be?