This book introduces the reader to all the basic physical building blocks of climate needed to understand the present and past climate of Earth, the climates of Solar System planets, and the climates of extrasolar planets. These building blocks include thermodynamics, infrared radiative transfer, scattering, surface heat transfer and various processes governing the evolution of atmospheric composition. Nearly four hundred problems are supplied to help consolidate the reader's understanding, and to lead the reader towards original research on planetary climate. This textbook is invaluable for advanced undergraduate or beginning graduate students in atmospheric science, Earth and planetary science, astrobiology, and physics. It also provides a superb reference text for researchers in these subjects, and is very suitable for academic researchers trained in physics or chemistry who wish to rapidly gain enough background to participate in the excitement of the new research opportunities opening in planetary climate.