The Antarctic Ice Sheet (AIS) response to past warming consistent with the 1.5–2°C ‘safe limit’ of the United Nations Paris Agreement is currently not well known. Empirical evidence from the most recent comparable period, the Last Interglaciation, is sparse, and transient ice-sheet experiments are few and inconsistent. Here we present new, transient, GCM-forced ice-sheet simulations validated against proxy reconstructions. This is the first time such an evaluation has been attempted. Our empirically-constrained simulations indicate that the AIS contributed 4 m to global mean sea level by 126 ka BP, with ice lost primarily from the Amundsen, but not Ross or Weddell Sea, sectors. We resolve conflict between previous work and show that the AIS thinned in the Wilkes Subglacial Basin but did not retreat. We also find that the West Antarctic Ice Sheet may be predisposed to future collapse even in the absence of further environmental change, consistent with previous studies.