Only the two lower scenarios, which were based on significant cuts in CO2 emissions, came in below the 2-degree C (3.6 F) limit that countries have set as their target in the climate talks to avoid the worst impacts of warming.
At this point, emissions keep rising mainly due to rapid growth in China and other emerging economies. They say rich countries should take the lead on emissions cuts because they've pumped carbon into the atmosphere for longer.
Climate activists said the report should spur governments to action.
"There are few surprises in this report but the increase in the confidence around many observations just validates what we are seeing happening around us,'' said Samantha Smith, of the World Wildlife Fund.
One of the most controversial subjects in the report was how to deal with a purported slowdown in warming in the past 15 years. Climate skeptics say this "hiatus'' casts doubt on the scientific consensus on climate change.
Many governments had objections over how the issue was treated in earlier drafts and some had called for it to be deleted altogether.
In the end, the IPCC made only a brief mention of the issue in the summary for policymakers, stressing that short-term records are sensitive to natural variability and don't in general reflect long-term trends.