diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 6890cea55e..65f133d6ff 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -179,7 +179,7 @@ controller_interface::return_type JointTrajectoryController::update(
     if (!current_trajectory_->is_sampled_already())
     {
       first_sample = true;
-      if (params_.interpolate_from_desired_state || params_.open_loop_control)
+      if (params_.interpolate_from_desired_state)
       {
         if (std::abs(last_commanded_time_.seconds()) < std::numeric_limits<float>::epsilon())
         {
@@ -693,16 +693,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
 {
   auto logger = get_node()->get_logger();
 
-  // START DEPRECATE
-  if (params_.open_loop_control)
-  {
-    RCLCPP_WARN(
-      logger,
-      "[deprecated] 'open_loop_control' parameter is deprecated. Instead, set the feedback gains "
-      "to zero and use 'interpolate_from_desired_state' parameter");
-  }
-  // END DEPRECATE
-
   // update the dynamic map parameters
   param_listener_->refresh_dynamic_parameters();
 
@@ -783,8 +773,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure(
   // if there is only velocity or if there is effort command interface
   // then use also PID adapter
   use_closed_loop_pid_adapter_ =
-    (has_velocity_command_interface_ && params_.command_interfaces.size() == 1 &&
-     !params_.open_loop_control) ||
+    (has_velocity_command_interface_ && params_.command_interfaces.size() == 1) ||
     (has_effort_command_interface_ && params_.command_interfaces.size() == 1);
 
   tmp_command_.resize(dof_, 0.0);
@@ -1018,8 +1007,9 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
   resize_joint_trajectory_point(state, dof_);
   // read from cmd joints only if all joints have command interface
   // otherwise it leaves the entries of joints without command interface NaN.
-  // if no open_loop control, state_current_ is then used for `set_point_before_trajectory_msg` and
-  // future trajectory sampling will always give NaN for these joints
+  // if no interpolate_from_desired_state, state_current_ is then used for
+  // `set_point_before_trajectory_msg` and future trajectory sampling will always give NaN for these
+  // joints
   if (
     params_.set_last_command_interface_value_as_state_on_activation && dof_ == num_cmd_joints_ &&
     read_state_from_command_interfaces(state))
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
index 926366cde6..2a4c5b343f 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
+++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml
@@ -51,12 +51,6 @@ joint_trajectory_controller:
     default_value: false,
     description: "Allow joint goals defining trajectory for only some joints.",
   }
-  open_loop_control: {
-    type: bool,
-    default_value: false,
-    description: "deprecated: use ``interpolate_from_desired_state`` and set feedback gains to zero instead",
-    read_only: true,
-  }
   interpolate_from_desired_state: {
     type: bool,
     default_value: false,
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index f95ef24c8e..44d021307e 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -168,10 +168,6 @@ class TestableJointTrajectoryController
 
   bool use_closed_loop_pid_adapter() const { return use_closed_loop_pid_adapter_; }
 
-  // START DEPRECATE
-  bool is_open_loop() const { return params_.open_loop_control; }
-  // END DEPRECATE
-
   joint_trajectory_controller::SegmentTolerances get_active_tolerances()
   {
     return *(active_tolerances_.readFromRT());