We use the terms ∞-categories and ∞-functors to mean the objects and morphisms in an ∞-cosmos: a simplicially enriched category satisfying a few axioms, reminiscent of an enriched category of fibrant objects. Quasi-categories, Segal categories, complete Segal spaces, marked simplicial sets, iterated complete Segal spaces, θ n -spaces, and fibered versions of each of these are all ∞-categories in this sense. Previous work in this series shows that the basic category theory of ∞-categories and ∞-functors can be developed only in reference to the axioms of an ∞-cosmos; indeed, most of the work is internal to the homotopy 2-category, a strict 2-category of ∞-categories, ∞-functors, and natural transformations. In the ∞-cosmos of quasi-categories, we recapture precisely the same category theory developed by Joyal and Lurie, although our definitions are 2categorical in natural, making no use of the combinatorial details that differentiate each model.In this paper, we introduce cartesian fibrations, a certain class of ∞-functors, and their groupoidal variants. Cartesian fibrations form a cornerstone in the abstract treatment of "category-like" structures a la Street and play an important role in Lurie's work on quasi-categories. After setting up their basic theory, we state and prove the Yoneda lemma, which has the form of an equivalence between the quasi-category of maps out of a representable fibration and the quasi-category underlying the fiber over its representing element. A companion paper will apply these results to establish a calculus of modules between ∞-categories, which will be used to define and study pointwise Kan extensions along ∞-functors.