It has been proposed that during Pleistocene glaciations, an ice cap of 1 kilometre or greater thickness covered the Arctic Ocean. This notion contrasts with the prevailing view that the Arctic Ocean was covered only by perennial sea ice with scattered icebergs. Detailed mapping of the ocean floor is the best means to resolve this issue. Although sea-floor imagery has been used to reconstruct the glacial history of the Antarctic shelf, little data have been collected in the Arctic Ocean because of operational constraints. The use of a geophysical mapping system during the submarine SCICEX expedition in 1999 provided the opportunity to perform such an investigation over a large portion of the Arctic Ocean. Here we analyse backscatter images and sub-bottom profiler records obtained during this expedition from depths as great as 1 kilometre. These records show multiple bedforms indicative of glacial scouring and moulding of sea floor, combined with large-scale erosion of submarine ridge crests. These distinct glaciogenic features demonstrate that immense, Antarctic-type ice shelves up to 1 kilometre thick and hundreds of kilometres long existed in the Arctic Ocean during Pleistocene glaciations.