Even after thousands of years of ice crushing the northern hemisphere and temperatures of 20 degrees lower than those of today, many of the great giants of the ice age still walked the earth. It was only when the world had warmed up again that mammoths, woolly rhinos, sabre-toothed cats, giant ground sloths and glyptodonts finally became extinct. Professor Alice Roberts sets off on her last voyage back to the Ice Age to discover why.

Our icy adventure begins with host Dr. Iain Stewart in the Alps, where he goes down an ice crevasse to show viewers how snowfall develops into expansive masses. Then, we see how ice can shape the earth's topography giving rise to features like Yosemite National Park and Manhattan Island, in NY. Finally, journey to Greenland and see how ice sheets and glaciers are melting at a phenomenal rate that is likely to accelerate over the coming years, changing the world as we know it.

Tyson describes the discovery of cosmic rays by Victor Hess through high-altitude balloon trips. Swiss Astronomer Fritz Zwicky, in studying supernovae, postulated that these cosmic rays originated from these events instead of electromagnetic radiation. Also tells how Vera Rubin observed that the rotation of stars at the edges of observable galaxies did not follow expected rotational behavior leading to consider the existence of dark matter. This further led to the discovery of dark energy to account for the increasing rate of expansion of the universe. Tyson then describes the interstellar travel of the two Voyager probes. Tyson tells the Carl Sagan's role in the Voyager program, including creating the Voyager Golden Record to encapsulate humanity and Earth's position in the universe. Tyson concludes the series by emphasizing Sagan's message on the human condition in the vastness of the cosmos, and to encourage viewers to continue to explore and discover what else the universe has to offer.

For the animals in the polar regions, autumn means dramatic battles and epic journeys. Time is running out - the Arctic Ocean is freezing over and the sea ice is advancing at 2.5 miles per day around Antarctica. Polar bears gather in large numbers on the Arctic coast as they wait for the return of the ice. Soon, tempers fray and violent sparring contests break out. Meanwhile 2,000 beluga whales head for one special estuary, a gigantic 'whale spa' where they will thrash their snow-white bodies against the gravel and exfoliate. Inland, the tundra undergoes a dramatic transformation from green to fiery red. Here, musk ox males slam head-first into each other with the force of a 30mph car crash as they struggle to defend their harems. Frisky young caribou males play a game of 'grandma's footsteps' as they try to steal the boss's female. Down in Antarctica, Adelie penguin chicks huddle together in creches. When a parent returns from fishing, it leads its twins on a comical steeplechase - sadly there's only enough for one, so the winner gets the meal. Two months later and the chicks are fully feathered apart from downy Mohican hairdos - they're ready to take their first swim - reluctantly though, as it seems penguins are not born with a love of water! And with good reason - a leopard seal explodes from the sea and pulls one from an ice floe, a hunting manoeuvre that has never been filmed before. As winter approaches and everyone has left, the giant emperor penguin arrives and makes an epic trek inland to breed. The mothers soon return to the sea leaving the fathers to hold the eggs and endure the coldest winter on earth.

In a late Jurassic forest in what is now China, an Epidexipteryx escapes from a juvenile Sinraptor by climbing a tree. It finds a beetle grub in the tree bark, being shown to use its elongated fingers in a similar way to a modern day aye-aye. However, its prey is stolen by another, larger Epidexipteryx, and after a brief bout of posturing, the smaller individual goes to find more food. It drops a second grub to the forest floor, where the other Epidexipteryx retrieves it, only to be killed by the juvenile Sinraptor. The episode then cuts to a desert in late Cretaceous Mongolia, where a Saurornithoides is shown brooding a nest of eggs. When it leaves the nest, an Oviraptor raids it, fleeing when the troodontid returns. The Saurornithoides is suddenly attacked and eaten by a Gigantoraptor, which then heads to compete in a breeding ritual for mates. The males use their feathers for display, a brief fight between two erupting at one point, allowing the females to choose the best suitor. The episode finally cuts to an early Cretaceous forest in China, where a Xianglong is being hunted by a Microraptor, which uses its feathers to pursue the gliding lizard in the air. A Sinornithosaurus attacks it, and after a brief chase the Microraptor manages a lucky escape. The Sinornithosaurus, alongside two other members of its species is then shown hunting a Jeholosaurus and its three young. The group brings down the parent, the narrator explaining that their possibly venomous bite allowed them to tackle animals much larger than themselves. A montage is then shown of the feathered dinosaurs featured in the programme, with the narrator saying that Microraptor not only hints at how flight might have developed, but also that dinosaurs still live amongst us today, as birds.

In late Cretaceous Canada, in what will be known as Dinosaur Provincial Park, a Daspletosaurus stalks a Chasmosaurus in a forest, but loses the element of surprise and is forced to retreat. The Chasmosaurus comes across a younger Daspletosaurus, before being ambushed by a group of the tyrannosaurids. The episode then cuts to the high Arctic, where Edmontosaurus are hunted by a large species of Troodon. The theropods attack at night, separating a juvenile from the herd and severely wounding it, only to be driven away by an adult. In the morning, they return to eat the carcass of the juvenile, which died during the night. The episode returns to the Daspletosaurus, who chase and bring down the Chasmosaurus. The larger adults bully the youngsters off the carcass, forcing them to wait until they have finished. The episode then cuts to Madagascar, where a mother Majungasaurus (an Abelisaurid) and her two offspring chase a group of Rahonavis off a carcass. However, they are temporarily driven off themselves by a male Majungasaurus. But, after he steals some food from one of the young, the female attacks him, before she and her young cannibalise his body. The episode returns once again to North America, where the Daspletosaurus are waiting for the annual migration of Centrosaurus. They attack during a rainstorm, killing some of the ceratopsians. The Centrosaurus make it to a flooded river and begin to swim across, and although many make it to the other side, some are caught by giant crocodilians or are severely wounded by floating debris and thus drown, or drown for unseen reasons. In the morning, the carcasses attract scavengers, including the Daspletosaurus. A montage is then shown of Daspletosaurus and Majungasaurus, the narrator saying that together, the tyrannosaurids and abelisaurids were the last of the killer dinosaurs.