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Deep sea geological records indicate that Antarctic ice-sheet growth and decay is strongly influenced by the Earth’s astronomical variations (known as Milankovitch cycles), and that the frequency of the glacial–interglacial cycles changes through time. Here we examine the emergence of a strong obliquity (axial tilt) control on Antarctic ice-sheet evolution during the Miocene by correlating the Antarctic margin geological records from 34 to 5 million years ago with a measure of obliquity sensitivity that compares the variance in deep sea sediment core oxygen-isotope data at obliquity timescales with variance of the calculated obliquity forcing. Our analysis reveals distinct phases of ice-sheet evolution and suggests the sensitivity to obliquity forcing increases when ice-sheet margins extend into marine environments. We propose that this occurs because obliquity-driven changes in the meridional temperature gradient …