A thermal-cycle cryocooler, such as a Stirling-cycle cryocooler, has a single working volume that is utilized by both the compressor and the displacer. The compressor and the displacer have respective movable parts, one of which is surrounded by the other. One of the parts may be a piston, a portion of which moves within a central bore or opening in a cylinder that is the other movable part. The piston may be a component of the compressor and the cylinder may be a component of the displacer, or vice versa. The working volume is located in part in a bore of the cylinder, between the piston and a regenerator that is coupled to the cylinder. Movements of either the piston or the cylinder can directly (i.e. without the use of a gas transfer line or flow passage) cause compression or expansion of the working gas in the working volume.