diff --git a/wpilibc/src/main/native/include/frc/Joystick.h b/wpilibc/src/main/native/include/frc/Joystick.h
index 596f2dd938..4ae398c51b 100644
--- a/wpilibc/src/main/native/include/frc/Joystick.h
+++ b/wpilibc/src/main/native/include/frc/Joystick.h
@@ -31,17 +31,6 @@ class Joystick : public GenericHID {
   static constexpr int kDefaultTwistChannel = 2;
   static constexpr int kDefaultThrottleChannel = 3;
 
-  WPI_DEPRECATED("Use kDefaultXChannel instead.")
-  static constexpr int kDefaultXAxis = 0;
-  WPI_DEPRECATED("Use kDefaultYChannel instead.")
-  static constexpr int kDefaultYAxis = 1;
-  WPI_DEPRECATED("Use kDefaultZChannel instead.")
-  static constexpr int kDefaultZAxis = 2;
-  WPI_DEPRECATED("Use kDefaultTwistChannel instead.")
-  static constexpr int kDefaultTwistAxis = 2;
-  WPI_DEPRECATED("Use kDefaultThrottleChannel instead.")
-  static constexpr int kDefaultThrottleAxis = 3;
-
   enum AxisType { kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis };
   enum ButtonType { kTriggerButton, kTopButton };
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
index e461d76028..06a4cdc13a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
@@ -24,17 +24,6 @@ public class Joystick extends GenericHID {
   static final byte kDefaultTwistChannel = 2;
   static final byte kDefaultThrottleChannel = 3;
 
-  @Deprecated
-  static final byte kDefaultXAxis = 0;
-  @Deprecated
-  static final byte kDefaultYAxis = 1;
-  @Deprecated
-  static final byte kDefaultZAxis = 2;
-  @Deprecated
-  static final byte kDefaultTwistAxis = 2;
-  @Deprecated
-  static final byte kDefaultThrottleAxis = 3;
-
   /**
    * Represents an analog axis on a joystick.
    */