Records of changing ice mass in offshore sediments and ice cores suggest that the West Antarctic ice sheet experienced millennial-scale ice loss during the last termination. However, the distal location and short temporal coverage of these records leads to uncertainty in both the spatial footprint of ice response, and whether this response persists outside of glacial terminations. Here we present a >100kyr archive of episodic Antarctic ice sheet basal melt events recorded by mineralogic variation in subglacial precipitates. 234U-230Th dates for two precipitates are used to build a time series of 32 opal-calcite transitions that correspond to Late Pleistocene millennial-scale climate cycles, with precipitation of opal during cold periods and calcite during warm periods. Geochemical data indicate that opal precipitation occurs via cryoconcentration of silica in brines beneath the ice sheet margin, while calcite precipitation is triggered by the addition of subglacial meltwater originating from the ice sheet interior. These freeze-flush cycles represent changes in subglacial hydrologic-connectivity driven by ice sheet velocity fluctuations, which likely occur in response to Southern Ocean thermal forcing acting on grounding lines within the Ross Embayment. Our results suggest that oscillating temperatures in the Southern Ocean affect the mass of the Antarctic ice sheet by regulating the delivery of heat to buttressing ice shelves and grounding lines on millennial timescales, regardless of the background climate state.