diff --git a/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
index 9ad8cb266a..ea9f04c6e6 100644
--- a/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
+++ b/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
@@ -89,22 +89,6 @@ class ClientGoalHandle
   rclcpp::Time
   get_goal_stamp() const;
 
-  /// Get a future to the goal result.
-  /**
-   * \deprecated Use rclcpp_action::Client::async_get_result() instead.
-   *
-   * This method should not be called if the `ignore_result` flag was set when
-   * sending the original goal request (see Client::async_send_goal).
-   *
-   * `is_result_aware()` can be used to check if it is safe to call this method.
-   *
-   * \throws exceptions::UnawareGoalHandleError If the the goal handle is unaware of the result.
-   * \return A future to the result.
-   */
-  [[deprecated("use rclcpp_action::Client::async_get_result() instead")]]
-  std::shared_future<WrappedResult>
-  async_result();
-
   /// Get the goal status code.
   int8_t
   get_status();
diff --git a/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp b/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp
index 277e2576a0..f36c2e471b 100644
--- a/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp
+++ b/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp
@@ -55,13 +55,6 @@ ClientGoalHandle<ActionT>::get_goal_stamp() const
   return info_.stamp;
 }
 
-template<typename ActionT>
-std::shared_future<typename ClientGoalHandle<ActionT>::WrappedResult>
-ClientGoalHandle<ActionT>::async_result()
-{
-  return this->async_get_result();
-}
-
 template<typename ActionT>
 std::shared_future<typename ClientGoalHandle<ActionT>::WrappedResult>
 ClientGoalHandle<ActionT>::async_get_result()