Atmospheric greenhouse gas concentrations are thought to have synchronized global temperatures during Pleistocene glacial–interglacial cycles, yet their impact relative to changes in high-latitude insolation and ice-sheet extent remains poorly constrained. Here, we use tropical glacial fluctuations to assess the timing of low-latitude temperature changes relative to global climate forcings. We report ¹⁰Be ages of moraines in tropical East Africa and South America and show that glaciers reached their maxima at ~29 to 20 ka, during the global Last Glacial Maximum. Tropical glacial recession was underway by 20 ka, before the rapid CO₂ rise at ~18.2 ka. This “early” tropical warming was influenced by rising high-latitude insolation and coincident ice-sheet recession in both polar regions, which lowered the meridional thermal gradient and reduced tropical heat export to the high latitudes.