We consider a two-brane system in five-dimensional anti–de Sitter space-time. We study particle creation due to the motion of the physical brane which first approaches the second static brane (contraction) and then recedes from it (expansion). The spectrum and the energy density of the generated gravitons are calculated. We show that the massless gravitons have a blue spectrum and that their energy density satisfies the nucleosynthesis bound with very mild constraints on the parameters. We also show that the Kaluza-Klein modes cannot provide the dark matter in an anti–de Sitter braneworld. However, for natural choices of parameters, backreaction from the Kaluza-Klein gravitons may well become important. The main findings of this work have been published in the form of a Letter [R. Durrer and M. Ruser, Phys. Rev. Lett. 99, 071601 (2007)].