Carbon dioxide interactions with crystalline and amorphous water ice have been studied by time-resolved molecular beam techniques. CO2 collisions at thermal kinetic energies with ice in the temperature range 100-160 K result in efficient trapping on the ice surface followed by desorption. The desorption kinetics on crystalline ice at 100-125 K are well described by the Arrhenius equation with an activation energy of 0.22 +/- 0.02 eV and a preexponential factor of 10(13.32+/-0.57) s(-1). Below 120 K, CO2 populates strongly bonded sites on amorphous ice, resulting in surface residence times on the order of minutes at 100 K, and the desorption data can in this case not be explained by a simple first-order process. The results are compared to previous studies of gas-ice interactions, and the implications for heterogeneous processes in the terrestrial atmosphere are discussed.