diff --git a/actionpack/CHANGELOG.md b/actionpack/CHANGELOG.md
index b03dfc591cbbc..a449bd42cb7f4 100644
--- a/actionpack/CHANGELOG.md
+++ b/actionpack/CHANGELOG.md
@@ -1,3 +1,7 @@
+*   Remove deprecated `speaker`, `vibrate`, and `vr` permissions policy directives.
+
+    *Rafael Mendonça França*
+
 *   Remove deprecated `Rails.application.config.action_dispatch.return_only_request_media_type_on_content_type`.
 
     *Rafael Mendonça França*
diff --git a/actionpack/lib/action_dispatch/http/permissions_policy.rb b/actionpack/lib/action_dispatch/http/permissions_policy.rb
index 45ed9e4d6c5ba..89ec3141a85c4 100644
--- a/actionpack/lib/action_dispatch/http/permissions_policy.rb
+++ b/actionpack/lib/action_dispatch/http/permissions_policy.rb
@@ -132,25 +132,6 @@ def initialize_copy(other)
       end
     end
 
-    %w[speaker vibrate vr].each do |directive|
-      define_method(directive) do |*sources|
-        ActionDispatch.deprecator.warn(<<~MSG)
-          The `#{directive}` permissions policy directive is deprecated
-          and will be removed in Rails 7.2.
-
-          There is no browser support for this directive, and no plan
-          for browser support in the future. You can just remove this
-          directive from your application.
-        MSG
-
-        if sources.first
-          @directives[directive] = apply_mappings(sources)
-        else
-          @directives.delete(directive)
-        end
-      end
-    end
-
     def build(context = nil)
       build_directives(context).compact.join("; ")
     end
diff --git a/actionpack/test/dispatch/permissions_policy_test.rb b/actionpack/test/dispatch/permissions_policy_test.rb
index c98f06b7dd543..9239b12f6b99d 100644
--- a/actionpack/test/dispatch/permissions_policy_test.rb
+++ b/actionpack/test/dispatch/permissions_policy_test.rb
@@ -39,16 +39,6 @@ def test_invalid_directive_source
 
     assert_equal "Invalid HTTP permissions policy source: [:non_existent]", exception.message
   end
-
-  def test_deprecated_directives
-    assert_deprecated(ActionDispatch.deprecator) { @policy.speaker :self }
-    assert_deprecated(ActionDispatch.deprecator) { @policy.vibrate :self }
-    assert_deprecated(ActionDispatch.deprecator) { @policy.vr :self }
-
-    assert_not_deprecated(ActionDispatch.deprecator) do
-      assert_equal "speaker 'self'; vibrate 'self'; vr 'self'", @policy.build
-    end
-  end
 end
 
 class PermissionsPolicyMiddlewareTest < ActionDispatch::IntegrationTest
diff --git a/guides/source/7_2_release_notes.md b/guides/source/7_2_release_notes.md
index 075eb32281314..132992d5fffcd 100644
--- a/guides/source/7_2_release_notes.md
+++ b/guides/source/7_2_release_notes.md
@@ -58,6 +58,8 @@ Please refer to the [Changelog][action-pack] for detailed changes.
 
 *   Remove deprecated `Rails.application.config.action_dispatch.return_only_request_media_type_on_content_type`.
 
+*   Remove deprecated `speaker`, `vibrate`, and `vr` permissions policy directives.
+
 ### Deprecations
 
 *   Deprecate `Rails.application.config.action_controller.allow_deprecated_parameters_hash_equality`.