Not exactly by the ice Ige, but by its end. Let's not forget that not the entire earth was under ice, but only Europe, so there was plenty of room for civilizations develop.
Humans only have a short experience on this planet, as far as we know, but with so many cataclisms that have occured throughout history it is possible that we have a past of whose existence we are simply not aware.
But not steping in the realm of fantasy and science fiction, we must agree that it is quite unlikely that such civilizations possessed a technology similar to ours (otherwise we could see the marks of pollution and so on and so forth). The level of such a civilization would be comparable to what we knew during the Illumination period, but without the same weapons that we possessed back then. It's a long story.
At the end of the ice age the ice started to melt and there were great floods everywhere. This is a fact, because it appears in all major mythologies (Christian, Greek, Mesopotamian). Also, these mythologies point to the fact that some civilization was destroyed in the process, so this could have happened, too.
All in all, we can all believe what we want, because history is really extremelly subjective and people always interpret its fact so as to suit their expectations of it. Personally, I prefer to believe that there was some great civilization that there is no more. Will this ever be a fact? I don't know.