One of the first estimates was in 1972:
http://www.skepticalscience.com/print.php?n=2456
"The increase of 25% CO2 expected by the end of the century therefore corresponds to an increase of 0.6°C in the world temperature – an amount somewhat greater than the climatic variation of recent centuries."
As the ex-post summary put it: "Between the years 1850 and 2000, atmospheric carbon dioxide levels did increase by very close to 25 percent, and global average surface temperatures also increased by just about 0.6°C during that time."
The general climate models have become much more powerful, sophisticated, and since then, and cover a much broader array of factors, and they are certainly not less accurate overall.
The errors tend to be in details, and to be blown way out of proportion by the anti-science tools of the fossil fuel industry, who rarely have much ability to understand what they are talking about but, at least for the ringleaders, decades of experience in cherry-picking, trickery, fake logic, and deception.
Case in point: JimZ, for once in a blue moon, cites an actual source. But it is none other than that old standby of deniers, Wattsup, an ex weather man with zero scientific credentials, zero scientific accomplishments, and long record of proven deception, and of taking funding from fossil fuel interests. Jim, however is so skeptical that he is absolutely sure that Wattsup is correct, and hundreds of Nobel Prize winning chemists and physicists are all wrong, because Nobel was a Swede, and most Swedes are Marxists.
http://en.wikipedia.org/wiki/Anthony_Watts_(blogger)
[Edit: JimZ is as much of an "actual scientist" as these "scientists" quoted in the list of (perhaps correctly) translated climate predictions from Germany that he blindly cut-and-pasted from Wattsup: Spiegel, 3Sat, Chamber of Agriculture of Lower Saxony, German Federal Department of Highways. And these non-German "scientists" also on that list: Meryl Streep, Ted Turner, Washington Post in 1971 (when JimZ was cheating on his 3rd grade science test?),Dallas Morning News, and Ted Alvarez, Backpacker Magazine Blogs.]
U.S. National Academy of Sciences, 2010:
http://books.nap.edu/openbook.php?record_id=12782&page=1
“Climate change is occurring, is caused largely by human activities, and poses significant risks for a broad range of human and natural systems.”
“Choices made now about carbon dioxide emissions reductions will affect climate change impacts experienced not just over the next few decades but also in coming centuries and millennia…
“The Academy membership is composed of approximately 2,100 members and 380 foreign associates, of whom nearly 200 have won Nobel Prizes."
http://en.wikipedia.org/wiki/Global_warming
http://en.wikipedia.org/wiki/History_of_climate_change_science
http://www.aps.org/publications/apsnews/200602/backpage.cfm
http://nas-sites.org/climate-change/qanda.html#.U2Afzsf75DS
http://www.skepticalscience.com/argument.php
http://en.wikipedia.org/wiki/Climate_change_denial
http://www.sharonlbegley.com/global-warming-deniers-a-well-funded-machine