diff --git a/changelog/5348.misc.rst b/changelog/5348.misc.rst
new file mode 100644
index 000000000000..3200ad11c6dd
--- /dev/null
+++ b/changelog/5348.misc.rst
@@ -0,0 +1 @@
+Remove deprecation warnings for ``CRFEntityExtractor`` and ``SklearnIntentClassifier``.
diff --git a/docs/nlu/components.rst b/docs/nlu/components.rst
index adc8a98c548d..b0b8ef8f4793 100644
--- a/docs/nlu/components.rst
+++ b/docs/nlu/components.rst
@@ -676,10 +676,6 @@ MitieIntentClassifier
 SklearnIntentClassifier
 ~~~~~~~~~~~~~~~~~~~~~~~
 
-.. warning::
-    ``SklearnIntentClassifier`` is deprecated and should be replaced by ``DIETClassifier``. See
-    :ref:`migration guide <migration-to-rasa-1.8>` for more details.
-
 :Short: Sklearn intent classifier
 :Outputs: ``intent`` and ``intent_ranking``
 :Requires: ``dense_features`` for user messages
@@ -1267,10 +1263,6 @@ CRFEntityExtractor
     .. note::
         If "pattern" features are used, you need to have ``RegexFeaturizer`` in your pipeline.
 
-    .. warning::
-        ``CRFEntityExtractor`` is deprecated and should be replaced by ``DIETClassifier``. See
-        :ref:`migration guide <migration-to-rasa-1.8>` for more details.
-
 :Configuration:
     ``CRFEntityExtractor`` has a list of default features to use.
     However, you can overwrite the default configuration.
diff --git a/rasa/nlu/classifiers/sklearn_intent_classifier.py b/rasa/nlu/classifiers/sklearn_intent_classifier.py
index 47bd8940e907..93fef26525c2 100644
--- a/rasa/nlu/classifiers/sklearn_intent_classifier.py
+++ b/rasa/nlu/classifiers/sklearn_intent_classifier.py
@@ -65,13 +65,6 @@ def __init__(
             self.le = LabelEncoder()
         self.clf = clf
 
-        common_utils.raise_warning(
-            "'SklearnIntentClassifier' is deprecated and will be removed in version "
-            "2.0. Use 'DIETClassifier' instead.",
-            category=FutureWarning,
-            docs=DOCS_URL_MIGRATION_GUIDE,
-        )
-
     @classmethod
     def required_packages(cls) -> List[Text]:
         return ["sklearn"]
diff --git a/rasa/nlu/extractors/crf_entity_extractor.py b/rasa/nlu/extractors/crf_entity_extractor.py
index 241e68dbf820..68b778be70a1 100644
--- a/rasa/nlu/extractors/crf_entity_extractor.py
+++ b/rasa/nlu/extractors/crf_entity_extractor.py
@@ -114,12 +114,6 @@ def __init__(
 
         self._validate_configuration()
 
-        common_utils.raise_warning(
-            "'CRFEntityExtractor' is deprecated and will be removed in version "
-            "2.0. Use 'DIETClassifier' instead.",
-            docs=DOCS_URL_MIGRATION_GUIDE,
-        )
-
     def _validate_configuration(self) -> None:
         if len(self.component_config.get("features", [])) % 2 != 1:
             raise ValueError(