We provide a detailed analysis of Friedmann-Robertson-Walker universes in a wide range of scalar-tensor theories of gravity. We apply solution-generating methods to three parametrised classes of scalar-tensor theory which lead naturally to general relativity in the weak-field limit. We restrict the parameters which specify these theories by the requirements imposed by the weak-field tests of gravitation theories in the solar system and by the requirement that viable cosmological solutions be obtained. We construct a range of exact solutions for open, closed, and flat isotropic universes containing matter with equation of state P ≤ 1 3 ρ and in vacuum. We study the range of early and late-time behaviours displayed, examine when there is a 'bounce' at early times, and expansion maxima in closed models. PACS number(s) 98.80.Cq, 98.80.Hw, 04.50.+h,