Beasts has at least two. By the end of "Next of Kin" when the australopithecines team up to drive off the big cat Dinofelis from a threatened youngster, and when the matriarch of the mammoth herd welcomes the delayed female and her calf in "Mammoth Journey".
Making the ending of "Next of Kin" was that Blue was the Butt Monkey of the Australopithecus tribe, an orphan who was basically a hanger-on to the tribe after his mother died. The fact the tribe considered him worth saving make it extra heartwarming.
The ending to Walking With Dinosaurs would be a Tear Jerker, except for the very end, which shows (just like ending to Jurassic Park), that even though the dinosaurs are gone their descendants — birds — are still with us.