Historically, the earth has had five "Ice Ages" Each of them lasted millions, tens of millions, or hundreds of millions of years.
The last ice age reportedly ended perhaps 10,000 years ago. That seems to represent the beginning of recorded history.
Except that a period 10,000 years is a "rounding error" in the span of millions of years. If it was true that "we haven't been in an ice age for at least 1 million years, then I would believe that we were "clear" of the last one. But what is to say that the last 10,000 years isn't just an usually warm "spell" in what would otherwise be a cold period of say, a million years?