The Ice Warriors are reptilian humanoids, their scaly skin and features usually hidden under heavy armour. They have large, claw-like hands on which are mounted sonic weaponry, and their voices are a highly sibilant whisper due to the different composition of Earth's atmosphere. Two types of Ice Warrior are seen in the series, the rank and file Warriors, and an officer class, which fan lore has christened Ice Lords. The main difference between the two is the design of their armour, with the Ice Lords wearing a lighter, more flexible version than those of the Warriors.

They later appeared in the Curse of Peladon with Jon Pertwee, and returned for his final season in Monster of Peladon.

They also met the 5th Doctor in the Big Finish Audio, Red Dawn.