diff --git a/gz_ros2_control/include/gz_ros2_control/gz_system.hpp b/gz_ros2_control/include/gz_ros2_control/gz_system.hpp
index 27361cb4..dccdc892 100644
--- a/gz_ros2_control/include/gz_ros2_control/gz_system.hpp
+++ b/gz_ros2_control/include/gz_ros2_control/gz_system.hpp
@@ -38,12 +38,6 @@ class GazeboSimSystemPrivate;
 class GazeboSimSystem : public GazeboSimSystemInterface
 {
 public:
-  // Documentation Inherited
-  [[deprecated(
-  "Replaced by GazeboSimSystem::on_init(const "
-  "hardware_interface::HardwareComponentInterfaceParams & params).")]]
-  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
-
   // Documentation Inherited
   CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params)
   override;
diff --git a/gz_ros2_control/src/gz_system.cpp b/gz_ros2_control/src/gz_system.cpp
index 30308294..b20216bf 100644
--- a/gz_ros2_control/src/gz_system.cpp
+++ b/gz_ros2_control/src/gz_system.cpp
@@ -575,29 +575,6 @@ void GazeboSimSystem::registerSensors(
     });
 }
 
-CallbackReturn
-GazeboSimSystem::on_init(const hardware_interface::HardwareInfo & info)
-{
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable : 4996)
-#else
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-  if (hardware_interface::SystemInterface::on_init(info) !=
-    CallbackReturn::SUCCESS)
-  {
-    return CallbackReturn::ERROR;
-  }
-  return CallbackReturn::SUCCESS;
-#ifdef _MSC_VER
-#pragma warning(pop)
-#else
-#pragma GCC diagnostic pop
-#endif
-}
-
 CallbackReturn
 GazeboSimSystem::on_init(const hardware_interface::HardwareComponentInterfaceParams & params)
 {