diff --git a/README.md b/README.md
index c262063..b21e764 100644
--- a/README.md
+++ b/README.md
@@ -91,7 +91,7 @@ generate_parameter_module(
 **src/turtlesim.cpp**
 ```c++
 #include <rclcpp/rclcpp.hpp>
-#include <turtlesim/turtlesim_parameters.hpp>  // you can also use the deprecated #include "turtlesim_parameters.hpp"
+#include <turtlesim/turtlesim_parameters.hpp>
 
 int main(int argc, char * argv[])
 {
diff --git a/generate_parameter_library/cmake/generate_parameter_library.cmake b/generate_parameter_library/cmake/generate_parameter_library.cmake
index 8094ade..bec339b 100644
--- a/generate_parameter_library/cmake/generate_parameter_library.cmake
+++ b/generate_parameter_library/cmake/generate_parameter_library.cmake
@@ -49,8 +49,6 @@ macro(generate_parameter_library LIB_NAME YAML_FILE)
 
     # Copy the header file into the include directory
     file(COPY ${IN_VALIDATE_HEADER} DESTINATION ${LIB_INCLUDE_DIR})
-    # necessary so that #include <param_file.hpp> can be used in the local package (deprecated)
-    file(COPY ${IN_VALIDATE_HEADER} DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/include)
   endif()
 
   # Set the yaml file parameter to be relative to the current source dir
@@ -68,19 +66,6 @@ macro(generate_parameter_library LIB_NAME YAML_FILE)
     "Running `${generate_parameter_library_cpp_BIN} ${PARAM_HEADER_FILE} ${YAML_FILE_PATH} ${VALIDATE_HEADER_FILENAME}`"
     VERBATIM
   )
-  # necessary so that #include <param_file.hpp> can be used in the local package (deprecated)
-  set(LOCAL_PARAM_HEADER_FILE ${CMAKE_CURRENT_BINARY_DIR}/include/${LIB_NAME}.hpp)
-  set(LOCAL_PARAM_HEADER_PRAGMA_WARNING_FILE ${CMAKE_CURRENT_BINARY_DIR}/${LIB_NAME}_pragma_warning)
-  file(WRITE ${LOCAL_PARAM_HEADER_PRAGMA_WARNING_FILE}
-    "#pragma message(\"#include \\\"${LIB_NAME}.hpp\\\" is deprecated. Use #include <${PROJECT_NAME}/${LIB_NAME}.hpp> instead.\")\n")
-  add_custom_command(
-    OUTPUT ${LOCAL_PARAM_HEADER_FILE}
-    COMMAND ${CMAKE_COMMAND} -E cat ${LOCAL_PARAM_HEADER_PRAGMA_WARNING_FILE} ${PARAM_HEADER_FILE} > ${LOCAL_PARAM_HEADER_FILE}
-    DEPENDS ${PARAM_HEADER_FILE}
-    COMMENT
-    "Creating deprecated header file ${LOCAL_PARAM_HEADER_FILE}"
-    VERBATIM
-  )
 
   # Create the library target
   add_library(${LIB_NAME} INTERFACE ${PARAM_HEADER_FILE} ${VALIDATE_HEADER} ${LOCAL_PARAM_HEADER_FILE})