Second Ice Age

Thousands of years following the First Ice Age, (TV: The Ice Warriors) the Second Ice Age, alternately known as the New Ice Age, (PROSE: Doctor Who and the Ice Warriors) occurred on Earth circa the year 5000, a time period visited by the Doctor during one of his first four incarnations (TV: The Talons of Weng-Chiang) and, later in his life, during his fifth (AUDIO: The Butcher of Brisbane) and eighth incarnations. (PROSE: Emotional Chemistry) The Second Doctor met the thawed Ice Warriors during this time. (TV: The Ice Warriors)

Behind the scenes
Publicity material for The Ice Warriors sets that story in the year 3000, but no other stories occurring around that era mention an Ice Age. In the televised story, it is described as the "second Ice Age" whereas in the novelisation it is called the "New Ice Age". The Fourth Doctor mentions an Ice Age in 5000 in Talons, but in that story's novelisation there is no mention of an Ice Age. In the comic story The Keep, Earth is ravaged by solar flares in the 51st century instead of an Ice Age.

It is worth noting that during the Ice Age, only part of the planet was covered, not the entire world, so there is some room for discrepancies.