The answer is, perhaps disappointingly, "not that different to how it is now". Indeed, of all the settled continents, it's probably Africa that has changed the least since the Ice Ages. You might think that this has something to do with Africa being close to the equator; in particular, that it's too close for whopping great sheets of ice to have rolled across the countryside.
Which they didn't, so that much is true. Indeed, the southern hemisphere in general had far less ice cover than Europe, Asia, and North America. That's due mainly to the way that the continents happen to be arranged, with glacial ice sheets only being able to get as far as southern South America (there are fjords in places like Tierra del Fuego). Presumably, sea ice extended much further across the Southern Ocean than it does now, but that would have little effect on land-based animals.
But that's not to say that Africa, or Australia, were unaffected by the Ice Ages. Africa was colder than it is today, and, to begin with at least, rather drier, too. The Sahara and Kalahari deserts were more extensive than they are today, with the semi-desert belt of the Sahel being quite a way south of its present position, running through what are now fairly lush countries such as Guinea, Nigeria, and northern Kenya.