Knowledge of the bathymetry of Antarctica’s margins is crucial for models and interpretations of ice-ocean interactions and their influence on ongoing and future sea level change, but remains patchy where ice shelves and multi-year sea ice block measurements. Here, we present a bathymetric model for the central Dronning Maud Land margin, based on a constrained inversion of airborne gravity data. It shows the cavities beneath the region’s two ice shelves to be much deeper than in existing bathymetric compilations, but to be shielded from Warm Deep Water ingress and basal melting by the presence of shallow bathymetric sills along the continental shelf. Over areas of multi-year sea ice, the model returns bathymetric estimates of similar accuracy to gravity interpolation-based methods over open water. Airborne gravity thus presents an opportunity to bathymetrically map hundreds of thousands of square kilometres of the most inaccessible margins of Antarctica at resolutions adequate for regional and global oceanographic and glaciological modelling and interpretation.