diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
index b951163fa3..6c34f35bc0 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
@@ -36,20 +36,6 @@ public class SlewRateLimiter {
     m_prevTime = MathSharedStore.getTimestamp();
   }
 
-  /**
-   * Creates a new SlewRateLimiter with the given positive rate limit and negative rate limit of
-   * -rateLimit and initial value.
-   *
-   * @param rateLimit The rate-of-change limit, in units per second.
-   * @param initalValue The initial value of the input.
-   * @deprecated Use SlewRateLimiter(double positiveRateLimit, double negativeRateLimit, double
-   *     initalValue) instead.
-   */
-  @Deprecated(since = "2023", forRemoval = true)
-  public SlewRateLimiter(double rateLimit, double initalValue) {
-    this(rateLimit, -rateLimit, initalValue);
-  }
-
   /**
    * Creates a new SlewRateLimiter with the given positive rate limit and negative rate limit of
    * -rateLimit.
diff --git a/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h b/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h
index a720c09b8c..17d0d21978 100644
--- a/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h
+++ b/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h
@@ -58,19 +58,6 @@ class SlewRateLimiter {
   explicit SlewRateLimiter(Rate_t rateLimit)
       : SlewRateLimiter(rateLimit, -rateLimit) {}
 
-  /**
-   * Creates a new SlewRateLimiter with the given positive rate limit and
-   * negative rate limit of -rateLimit and initial value.
-   *
-   * @param rateLimit The rate-of-change limit.
-   * @param initialValue The initial value of the input.
-   */
-  WPI_DEPRECATED(
-      "Use SlewRateLimiter(Rate_t positiveRateLimit, Rate_t negativeRateLimit, "
-      "Unit_t initalValue) instead")
-  SlewRateLimiter(Rate_t rateLimit, Unit_t initialValue)
-      : SlewRateLimiter(rateLimit, -rateLimit, initialValue) {}
-
   /**
    * Filters the input to limit its slew rate.
    *