The Geological History of Northern Europe

Precambrian -  There was crust formation and deformation during the Archean and Proterozoic periods.
Early Paleozoic - Was a time of tectonic stability.
Caledonian Orogeny - Was a time of major continental collision which lead to major mountain Building and sedimentation this was mostly across  Ireland, Wales, northern England, Scotland and Norway.
Variscan Orogeny - continental collision between Europe and Gondwana. It caused rock structure deformation across southernmost Ireland and England. 
Permian - Pangaea came into existence during this time. Europe was tectonically stable except for Norway.

The Pleistocene Epoch was 1.8 million years ago and is the most resent ice age where the continents moved to there current positions. During this time period Northern Europe was covered in ice sheets. They began to reside after the ice age.

http://www.donsmaps.com/icemaps.html

http://academic.emporia.edu/aberjame/struc_geo/euro_north/euro1.htm

http://www.livescience.com/40311-pleistocene-epoch.html