These two figures show former temperatures with major periods of glaciation labeled. The dashed lines are the present global average temperature of about 15° C (59° F). Thus the solid curves show small changes from this average; note that the temperature drops only about 5° C during a glaciation. This has occurred about every 100,000 years, with smaller wiggles in between. That is, there has been a 100,000 year glaciation cycle for the past million years or so, and there may be shorter cycles as well.
The most recent glaciation, 20,000 years ago, is called the Laurentide, and Earth is still recovering from it. This map from the The Illinois State Museum exhibit on ice ages shows the extent of that ice.
The most recent small drop in average temperature caused the Little Ice Age of 1500-1700 AD, which history describes. Mountain glaciers advanced in Europe and rivers like the Thames in England froze solid, which doesn't happen now.