Abstract Apatite fission-track (AFT) data from two traverses across the Great Escarpment of the western coast of South Africa are used to reconstruct the tectonic evolution and denudation history of this sector of the Atlantic passive margin. Fission-track ages range between 180 and 86 Ma. Modelling of this data identifies two distinct cooling events. The first event, between 160 and 138 Ma, is recorded only by the rocks above the escarpment in the Karoo area, and is tentatively linked to post-Karoo magmatism ( c. 180 Ma) thermal relaxation. The second, between 115 and 90 Ma, results instead from a tectonically induced denudation episode responsible for the removal of up to 2.5 km of crust across the coastal zone in front of the escarpment and less than 1 km on the elevated interior plateau. Based on these results, it is suggested that the Cretaceous is the time when most of the elevated topography of Southern Africa was generated, with only a minor Cenozoic contribution.