diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
index aafa2e527d..a9cb8e6ec2 100644
--- a/rclcpp_action/include/rclcpp_action/client.hpp
+++ b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -333,9 +333,8 @@ class Client : public ClientBase
    * The goal handle is used to monitor the status of the goal and get the final result.
    *
    * \param[in] goal The goal request.
-   * \param[in] callback Optional user callback for feedback associated with the goal.
-   * \param[in] ignore_result If `true`, then the result for the goal will not be requested and
-   *   therefore inaccessible from the goal handle.
+   * \param[in] options Options for sending the goal request. Contains references to callbacks for
+   *   the goal response (accepted/rejected), feedback, and the final result.
    * \return A future that completes when the goal has been accepted or rejected.
    *   If the goal is rejected, then the result will be a `nullptr`.
    */