This paper examines the astronomical theory of ice ages of James Croll (1821–1890), its influence on contemporaries John Tyndall, Charles Lyell, and Charles Darwin, and the subsequent development of climate change science, giving special attention to the work of Svante Arrhenius, Nils Ekholm, and G. S. Callendar (for the carbon dioxide theory), and Milutin Milanković (for the astronomical theory). Croll's insight that the orbital elements triggered feedbacks leading to complex changes – in seasonality, ocean currents, ice sheets, radiative forcing, plant and animal life, and climate in general – placed his theory of the Glacial Epoch at the nexus of astronomy, terrestrial physics, and geology. He referred to climate change as the most important problem in terrestrial physics, and the one which will ultimately prove the most far reaching in its consequences. He was an autodidact deeply involved in philosophy and an early proponent of what came to be called ‘cosmic physics’ – later known as ‘Earth-system science.’ Croll opened up new dimensions of the ‘climate controversy’ that continue today in the interplay of geological and human influences on climate.