diff --git a/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h b/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
index 61c1413f2be..c2a72b00258 100644
--- a/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
+++ b/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
@@ -104,20 +104,6 @@ class ExtWrenchesAndJointTorquesEstimator
      */
     bool setModelAndSensors(const Model & _model, const SensorsList & _sensors);
 
-    /**
-     * Load model and sensors from file.
-     *
-     * @deprecated Use iDynTree::ModelLoader::loadModelFromFile and call setModelAndSensors
-     * on the parsed Model and SensorsList
-     *
-     * @param[in] filename path to the file to load.
-     * @param[in] filetype (optional) explicit definiton of the filetype to load.
-     *                     Only "urdf" is supported at the moment.
-     * @return true if all went well (files were correctly loaded and consistent), false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadModelFromFile and call setModelAndSensors on the parsed Model and SensorsList")
-    bool loadModelAndSensorsFromFile(const std::string filename, const std::string filetype="");
-
     /**
      * Load model and sensors from file, specifieng the dof considered for the estimation.
      *
diff --git a/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h b/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h
index 57d1fcdc960..e7a9c70383b 100644
--- a/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h
+++ b/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h
@@ -118,38 +118,6 @@ class SimpleLeggedOdometry
      */
     bool setModel(const Model & _model);
 
-    /**
-     * Load model from file.
-     *
-     * @deprecated Use iDynTree::ModelLoader::loadModelFromFile and call setModel on the parsed Model
-     *
-     * @param[in] filename path to the file to load.
-     * @param[in] filetype (optional) explicit definiton of the filetype to load.
-     *                     Only "urdf" is supported at the moment.
-     * @return true if all went well (files were correctly loaded and consistent), false otherwise.
-     *
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadModelFromFile and call setModel on the parsed Model")
-    bool loadModelFromFile(const std::string filename, const std::string filetype="");
-
-    /**
-     * Load model from file, specifieng the dof considered for the estimation.
-     *
-     * @deprecated Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model
-     *
-     * @note this will create e a reduced model only with the joint specified in consideredDOFs
-     *
-     * @param[in] filename path to the file to load.
-     * @param[in] consideredDOFs list of dof to consider in the model.
-     * @param[in] filetype (optional) explicit definiton of the filetype to load.
-     *                     Only "urdf" is supported at the moment.
-     * @return true if all went well (files were correctly loaded and consistent), false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model")
-    bool loadModelFromFileWithSpecifiedDOFs(const std::string filename,
-                                            const std::vector<std::string> & consideredDOFs,
-                                            const std::string filetype="");
-
     /**
      * Get used model.
      *
diff --git a/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp b/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp
index bc02b250aba..414b841e692 100644
--- a/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp
+++ b/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp
@@ -117,17 +117,6 @@ bool ExtWrenchesAndJointTorquesEstimator::setModelAndSensors(const Model& _model
     return true;
 }
 
-bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFile(const std::string filename,
-                                                                      const std::string filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromFile(filename, filetype)) {
-        reportError("ExtWrenchesAndJointTorquesEstimator", "loadModelAndSensorsFromFile", "Error in parsing from URDF.");
-        return false;
-    }
-    return setModelAndSensors(loader.model(), loader.sensors());
-}
-
 bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifiedDOFs(const std::string filename,
                                                                                        const std::vector< std::string >& consideredDOFs,
                                                                                        const std::string filetype)
diff --git a/src/estimation/src/SimpleLeggedOdometry.cpp b/src/estimation/src/SimpleLeggedOdometry.cpp
index c7d92062de6..3cb6884bb73 100644
--- a/src/estimation/src/SimpleLeggedOdometry.cpp
+++ b/src/estimation/src/SimpleLeggedOdometry.cpp
@@ -182,36 +182,6 @@ bool SimpleLeggedOdometry::setModel(const Model& _model)
     return true;
 }
 
-
-bool SimpleLeggedOdometry::loadModelFromFile(const std::string filename,
-                                             const std::string filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromFile(filename, filetype)) {
-        reportError("SimpleLeggedOdometry",
-                    "loadModelFromFile",
-                    "Error in parsing model from URDF.");
-        return false;
-    }
-    return setModel(loader.model());
-}
-
-bool SimpleLeggedOdometry::loadModelFromFileWithSpecifiedDOFs(const std::string filename,
-                                                              const std::vector<std::string>& consideredDOFs,
-                                                              const std::string filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadReducedModelFromFile(filename, consideredDOFs, filetype)) {
-        reportError("SimpleLeggedOdometry",
-                    "loadModelFromFileWithSpecifiedDOFs",
-                    "Error in parsing model from URDF.");
-        return false;
-    }
-    return setModel(loader.model());
-}
-
-
-
 std::string SimpleLeggedOdometry::getCurrentFixedLink()
 {
     if( this->m_isModelValid && this->m_isOdometryInitialized )
diff --git a/src/high-level/include/iDynTree/KinDynComputations.h b/src/high-level/include/iDynTree/KinDynComputations.h
index fb44f4896c3..95e0a5a3963 100644
--- a/src/high-level/include/iDynTree/KinDynComputations.h
+++ b/src/high-level/include/iDynTree/KinDynComputations.h
@@ -121,27 +121,7 @@ class KinDynComputations {
      * @param model the model to use in this class.
      * @return true if all went ok, false otherwise.
      */
-    bool loadRobotModel(const iDynTree::Model & model );
-
-    /**
-     * Load the model of the robot from an external file.
-     *
-     * @param filename path to the file to load
-     * @param filetype type of the file to load, currently supporting only urdf type.
-     *
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadRobotModelFromFile and pass the Model to loadRobotModel")
-    bool loadRobotModelFromFile(const std::string & filename, const std::string & filetype="urdf");
-
-    /**
-     * Load the model of the robot  from a string.
-     *
-     * @param modelString string containg the model of the robot.
-     * @param filetype type of the file to load, currently supporting only urdf type.
-     *
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadRobotModelFromString and pass the Model to loadRobotModel")
-    bool loadRobotModelFromString(const std::string & modelString, const std::string & filetype="urdf");
+    bool loadRobotModel(const iDynTree::Model & model);
 
     /**
      * Return true if the models for the robot have been correctly.
diff --git a/src/high-level/src/KinDynComputations.cpp b/src/high-level/src/KinDynComputations.cpp
index a7df727a290..70234121243 100644
--- a/src/high-level/src/KinDynComputations.cpp
+++ b/src/high-level/src/KinDynComputations.cpp
@@ -460,28 +460,6 @@ void KinDynComputations::computeBiasAccFwdKinematics()
     this->pimpl->m_areBiasAccelerationsUpdated = ok;
 }
 
-bool KinDynComputations::loadRobotModelFromFile(const std::string& filename,
-                                                  const std::string& filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromFile(filename, filetype)) {
-        reportError("KinDynComputations", "loadRobotModelFromFile", "Error in loading robot model");
-        return false;
-    }
-    return this->loadRobotModel(loader.model());
-}
-
-bool KinDynComputations::loadRobotModelFromString(const std::string& modelString,
-                                                  const std::string& filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromString(modelString, filetype)) {
-        reportError("KinDynComputations", "loadRobotModelFromString", "Error in loading robot model");
-        return false;
-    }
-    return this->loadRobotModel(loader.model());
-}
-
 bool KinDynComputations::loadRobotModel(const Model& model)
 {
     this->pimpl->m_robot_model = model;
diff --git a/src/icub/CMakeLists.txt b/src/icub/CMakeLists.txt
index 8da071b4b04..4882cb0f179 100644
--- a/src/icub/CMakeLists.txt
+++ b/src/icub/CMakeLists.txt
@@ -48,7 +48,3 @@ install(TARGETS ${libraryname}
 
 set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS idyntree-icub)
 
-# Install headers in deprecated location
-install(DIRECTORY include/iDynTree/iCub
-        DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/iDynTree")
-
diff --git a/src/icub/include/iDynTree/iCub/skinDynLibConversions.h b/src/icub/include/iDynTree/iCub/skinDynLibConversions.h
deleted file mode 100644
index 3eaaa63da19..00000000000
--- a/src/icub/include/iDynTree/iCub/skinDynLibConversions.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * Copyright (C) 2017 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#ifndef IDYNTREE_SKINDYNLIB_CONVERSIONS_H_LEGACY_LOCATION
-#define IDYNTREE_SKINDYNLIB_CONVERSIONS_H_LEGACY_LOCATION
-
-#ifdef __DEPRECATED
-#warning <iDynTree/iCub/skinDynLibConversions.h> is deprecated. Please use <iDynTree/skinDynLibConversions.h>. To disable this warning use -Wno-deprecated.
-#endif
-
-#include <iDynTree/skinDynLibConversions.h>
-
-#endif /* IDYNTREE_SKINDYNLIB_CONVERSIONS_H_LEGACY_LOCATION */
diff --git a/src/inverse-kinematics/include/iDynTree/InverseKinematics.h b/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
index 059eb0d19e0..f02fa3b904f 100644
--- a/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
+++ b/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
@@ -165,22 +165,6 @@ class iDynTree::InverseKinematics
 
     bool setFloatingBaseOnFrameNamed(const std::string &floatingBaseFrameName);
 
-    /*!
-     * Sets the robot current configuration
-     *
-     *
-     * @param baseConfiguration  transformation identifying the base pose with respect to the world frame
-     * @param robotConfiguration the robot configuration
-     *
-     * @note the size (and order) of jointConfiguration must match the joints in the model, not
-     * in the consideredJoints variable
-     *
-     * @return true if successful, false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use setCurrentRobotConfiguration instead")
-    bool setRobotConfiguration(const iDynTree::Transform& baseConfiguration,
-                               const iDynTree::VectorDynSize& jointConfiguration);
-
     /*!
      * Sets the robot current configuration
      *
@@ -660,23 +644,6 @@ class iDynTree::InverseKinematics
     enum InverseKinematicsTreatTargetAsConstraint targetResolutionMode(const std::string& frameName);
     ///@}
 
-    /*!
-     * Sets a desired final configuration for the joints.
-     *
-     * The solver will try to obtain solutions as similar to the specified configuration as possible
-     *
-     * @note the desiredJointConfiguration have the same serialisation of the joints in the specified model
-     *
-     * @param[in] desiredJointConfiguration configuration for the joints
-     * @param[in] weight weight for the joint configuration cost.
-     *                   If it is not passed, the previous passed value will be mantained.
-     *                   If the value was never passed, its value is 1e-6 .
-     *
-     * @return true if successful, false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit setDesiredFullJointsConfiguration or setDesiredReducedJointConfiguration instead")
-    bool setDesiredJointConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, double weight=-1.0);
-
     /*!
      * Sets a desired final configuration for all the robot joints.
      *
@@ -743,20 +710,6 @@ class iDynTree::InverseKinematics
      */
     bool setDesiredReducedJointConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, const iDynTree::VectorDynSize& weights);
 
-
-
-    /*!
-     * Initial guess for the solution
-     *
-     * @note the initialCondition variable have the same serialisation of the joints in the specified model
-     * @param baseTransform     initial base pose
-     * @param initialCondition  initial joints configuration
-     * @return
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit setFullJointsInitialCondition or setReducedInitialCondition instead")
-    bool setInitialCondition(const iDynTree::Transform* baseTransform,
-                        const iDynTree::VectorDynSize* initialCondition);
-
     bool setFullJointsInitialCondition(const iDynTree::Transform* baseTransform,
                                        const iDynTree::VectorDynSize* initialCondition);
     bool setReducedInitialCondition(const iDynTree::Transform* baseTransform,
@@ -768,16 +721,6 @@ class iDynTree::InverseKinematics
     /*! @name Solution-related methods
       */
     ///@{
-    /*!
-     * Return the last solution of the inverse kinematics problem
-     *
-     * @param[out] baseTransformSolution  solution for the base position
-     * @param[out] shapeSolution       solution for the shape (the internal configurations)
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit getFullJointsSolution or getReducedSolution instead")
-    void getSolution(iDynTree::Transform& baseTransformSolution,
-                     iDynTree::VectorDynSize& shapeSolution);
-
 
     void getFullJointsSolution(iDynTree::Transform& baseTransformSolution,
                                iDynTree::VectorDynSize& shapeSolution);
@@ -808,28 +751,20 @@ class iDynTree::InverseKinematics
      - add check on modelLoaded, and other stuff if needed
      */
 
-    /*!
-     *  Access the model used by the InverseKinematics .
-     *
-     * @return A constant reference to iDynTree::Model used by the inverse kinematics.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit fullModel or reducedModel instead")
-    const Model & model() const;
-
     const Model & fullModel() const;
-    
+
     const Model & reducedModel() const;
 
     void setCOMTarget(iDynTree::Position& desiredPosition, double weight = 1.0);
-    
+
     void setCOMAsConstraint(bool asConstraint = true);
-    
+
     void setCOMAsConstraintTolerance(double tolerance = 1e-8);
-    
+
     bool isCOMAConstraint();
-    
+
     bool isCOMTargetActive();
-    
+
     void deactivateCOMTarget();
 
     /*!
diff --git a/src/inverse-kinematics/src/InverseKinematics.cpp b/src/inverse-kinematics/src/InverseKinematics.cpp
index 9303a17e787..458ec1ea1c6 100644
--- a/src/inverse-kinematics/src/InverseKinematics.cpp
+++ b/src/inverse-kinematics/src/InverseKinematics.cpp
@@ -134,16 +134,6 @@ namespace iDynTree {
 #endif
     }
 
-    bool InverseKinematics::setRobotConfiguration(const iDynTree::Transform& baseConfiguration, const iDynTree::VectorDynSize& jointConfiguration)
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        assert(m_pimpl);
-        return IK_PIMPL(m_pimpl)->setRobotConfiguration(baseConfiguration, jointConfiguration);
-#else
-        return missingIpoptErrorReport();
-#endif
-    }
-
     bool InverseKinematics::setCurrentRobotConfiguration(const iDynTree::Transform& baseConfiguration, const iDynTree::VectorDynSize& jointConfiguration)
     {
 #ifdef IDYNTREE_USES_IPOPT
@@ -700,15 +690,6 @@ namespace iDynTree {
 #endif
     }
 
-    bool InverseKinematics::setDesiredJointConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, double weight)
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        return this->setDesiredReducedJointConfiguration(desiredJointConfiguration, weight);
-#else
-        return missingIpoptErrorReport();
-#endif
-    }
-
     bool InverseKinematics::setDesiredFullJointsConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, double weight)
     {
 #ifdef IDYNTREE_USES_IPOPT
@@ -791,15 +772,6 @@ namespace iDynTree {
 #endif
     }
 
-    bool InverseKinematics::setInitialCondition(const iDynTree::Transform* baseTransform, const iDynTree::VectorDynSize* initialCondition)
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        return this->setReducedInitialCondition(baseTransform, initialCondition);
-#else
-        return missingIpoptErrorReport();
-#endif
-    }
-
     bool InverseKinematics::setFullJointsInitialCondition(const iDynTree::Transform* baseTransform,
                                                           const iDynTree::VectorDynSize* initialCondition)
     {
@@ -863,13 +835,13 @@ namespace iDynTree {
         return InverseKinematicsTreatTargetAsConstraintNone;
 #endif
     }
-    
+
     bool InverseKinematics::setTargetResolutionMode(const std::string& frameName, InverseKinematicsTreatTargetAsConstraint mode)
     {
 #ifdef IDYNTREE_USES_IPOPT
         assert(m_pimpl);
         internal::kinematics::TransformMap::iterator transConstr = IK_PIMPL(m_pimpl)->getTargetRefIfItExists(frameName);
-        
+
         if( transConstr == IK_PIMPL(m_pimpl)->m_targets.end() )
         {
             std::stringstream ss;
@@ -877,7 +849,7 @@ namespace iDynTree {
             reportError("InverseKinematics","setTargetResolutionMode",ss.str().c_str());
             return false;
         }
-        
+
         IK_PIMPL(m_pimpl)->setTargetResolutionMode(transConstr, mode);
         return true;
 #else
@@ -891,7 +863,7 @@ namespace iDynTree {
 #ifdef IDYNTREE_USES_IPOPT
         assert(m_pimpl);
         internal::kinematics::TransformMap::iterator transConstr = IK_PIMPL(m_pimpl)->getTargetRefIfItExists(frameName);
-        
+
         if( transConstr == IK_PIMPL(m_pimpl)->m_targets.end() )
         {
             std::stringstream ss;
@@ -899,7 +871,7 @@ namespace iDynTree {
             reportError("InverseKinematics","targetResolutionMode",ss.str().c_str());
             return InverseKinematicsTreatTargetAsConstraintNone;
         }
-        
+
         return IK_PIMPL(m_pimpl)->targetResolutionMode(transConstr);
 #else
         missingIpoptErrorReport();
@@ -917,17 +889,6 @@ namespace iDynTree {
 #endif
     }
 
-    void InverseKinematics::getSolution(iDynTree::Transform & baseTransformSolution,
-                                        iDynTree::VectorDynSize & shapeSolution)
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        this->getReducedSolution(baseTransformSolution, shapeSolution);
-        return;
-#else
-        missingIpoptErrorReport();
-#endif
-    }
-
     void InverseKinematics::getFullJointsSolution(iDynTree::Transform & baseTransformSolution,
                                                   iDynTree::VectorDynSize & shapeSolution)
     {
@@ -969,17 +930,6 @@ namespace iDynTree {
 #endif
     }
 
-    const Model& InverseKinematics::model() const
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        assert(m_pimpl);
-        return this->reducedModel();
-#else
-        missingIpoptErrorReport();
-        return this->reducedModel();
-#endif
-    }
-
     const Model& InverseKinematics::fullModel() const
     {
 #ifdef IDYNTREE_USES_IPOPT
@@ -990,7 +940,7 @@ namespace iDynTree {
         return this->reducedModel();
 #endif
     }
-    
+
     const Model& InverseKinematics::reducedModel() const
     {
 #ifdef IDYNTREE_USES_IPOPT
@@ -1001,7 +951,7 @@ namespace iDynTree {
         return this->reducedModel();
 #endif
     }
-    
+
     bool InverseKinematics::isCOMTargetActive()
     {
 #ifdef IDYNTREE_USES_IPOPT
diff --git a/src/model/CMakeLists.txt b/src/model/CMakeLists.txt
index eceb09a8c43..1ae19e42fe2 100644
--- a/src/model/CMakeLists.txt
+++ b/src/model/CMakeLists.txt
@@ -16,7 +16,6 @@ set(IDYNTREE_MODEL_HEADERS include/iDynTree/Model/ContactWrench.h
                            include/iDynTree/Model/Dynamics.h
                            include/iDynTree/Model/DynamicsLinearization.h
                            include/iDynTree/Model/DynamicsLinearizationHelpers.h
-                           include/iDynTree/Model/Indeces.h
                            include/iDynTree/Model/Indices.h
                            include/iDynTree/Model/Jacobians.h
                            include/iDynTree/Model/JointState.h
diff --git a/src/model/include/iDynTree/Model/Indeces.h b/src/model/include/iDynTree/Model/Indeces.h
deleted file mode 100644
index 2e59a616fb6..00000000000
--- a/src/model/include/iDynTree/Model/Indeces.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#ifndef IDYNTREE_INDECES_H
-#define IDYNTREE_INDECES_H
-
-#ifdef __DEPRECATED
-  #warning <iDynTree/Model/Indeces.h> is deprecated. Please use <iDynTree/Model/Indices.h>. To disable this warning use -Wno-deprecated.
-#endif
-
-#include "iDynTree/Model/Indices.h"
-
-#endif /* IDYNTREE_INDECES_H */
diff --git a/src/model/include/iDynTree/Model/SolidShapes.h b/src/model/include/iDynTree/Model/SolidShapes.h
index d91e48b1d1e..765c13b386b 100644
--- a/src/model/include/iDynTree/Model/SolidShapes.h
+++ b/src/model/include/iDynTree/Model/SolidShapes.h
@@ -17,12 +17,6 @@
 #include <iDynTree/Core/Transform.h>
 #include <iDynTree/Model/Indices.h>
 
-// TODO: Deprecation of public attributes.
-// - Ensure everybody migrated to use getters and setters.
-// - Move public attributes into private section and rename them with member
-//   convention (i.e. m_xxx).
-// - Bonus: change all the getters from `getXXX()` to `xxx()` (this can't be
-//   done now as you can't have a function with the same name as the variable).
 namespace iDynTree
 {
     class Material {
@@ -116,25 +110,19 @@ namespace iDynTree
         const Box* asBox() const;
         const Cylinder* asCylinder() const;
         const ExternalMesh* asExternalMesh() const;
-
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         std::string name;
         /**
          * True if the name is valid, false otherwise.
          */
-        IDYNTREE_DEPRECATED_WITH_MSG("Use isNameValid().")
         bool nameIsValid;
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         Transform link_H_geometry;
 
         /**
          * Material of the geometry, encoded as a rgba vector.
          */
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters and the Material class.")
         Vector4 material;
-
-    private:
         bool m_isMaterialSet;
         Material m_material;
     };
@@ -156,7 +144,7 @@ namespace iDynTree
          */
         void setRadius(double radius);
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         double radius;
     };
 
@@ -193,7 +181,7 @@ namespace iDynTree
          * Sets the y side length.
          */
         void setY(double y);
-    
+
         /**
          * Returns the current z side length.
          */
@@ -204,11 +192,9 @@ namespace iDynTree
          */
         void setZ(double z);
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         double x;
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         double y;
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         double z;
     };
 
@@ -238,10 +224,8 @@ namespace iDynTree
          */
         void setRadius(double radius);
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         double length;
-
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         double radius;
     };
 
@@ -271,10 +255,8 @@ namespace iDynTree
          */
         void setScale(const iDynTree::Vector3& scale);
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         std::string filename;
-
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         iDynTree::Vector3 scale;
     };
 
@@ -282,6 +264,10 @@ namespace iDynTree
     {
     private:
         ModelSolidShapes& copy(const ModelSolidShapes& other);
+        /**
+         * Storage ot ModelSolidShapes.
+         */
+        std::vector< std::vector<SolidShape *> > linkSolidShapes;
 
     public:
         ModelSolidShapes();
@@ -298,12 +284,6 @@ namespace iDynTree
         std::vector<std::vector<SolidShape *> >& getLinkSolidShapes();
 
         const std::vector<std::vector<SolidShape *> >& getLinkSolidShapes() const;
-
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use getLinkSolidShapes().")
-        /**
-         * Storage ot ModelSolidShapes.
-         */
-        std::vector< std::vector<SolidShape *> > linkSolidShapes;
     };
 
 }
diff --git a/src/model_io/urdf/CMakeLists.txt b/src/model_io/urdf/CMakeLists.txt
index eedc703dc1a..33a92c2370a 100644
--- a/src/model_io/urdf/CMakeLists.txt
+++ b/src/model_io/urdf/CMakeLists.txt
@@ -11,10 +11,7 @@ project(iDynTree_ModelIO_URDF CXX)
 set(IDYNTREE_MODELIO_URDF_HEADERS include/iDynTree/ModelIO/URDFDofsImport.h
                                   include/iDynTree/ModelIO/ModelLoader.h
                                   include/iDynTree/ModelIO/ModelExporter.h
-                                  include/iDynTree/ModelIO/ModelCalibrationHelper.h
-                                  include/deprecated/iDynTree/ModelIO/URDFModelImport.h
-                                  include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h
-                                  include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h)
+                                  include/iDynTree/ModelIO/ModelCalibrationHelper.h)
 
 set(IDYNTREE_MODELIO_URDF_PRIVATE_HEADERS include/private/URDFDocument.h
                                           include/private/InertialElement.h
@@ -46,9 +43,6 @@ set(IDYNTREE_MODELIO_URDF_SOURCES src/URDFDofsImport.cpp
                                   src/ModelLoader.cpp
                                   src/ModelExporter.cpp
                                   src/ModelCalibrationHelper.cpp
-                                  src/deprecated/URDFModelImport.cpp
-                                  src/deprecated/URDFGenericSensorsImport.cpp
-                                  src/deprecated/URDFSolidShapesImport.cpp
                                   src/URDFModelExport.cpp)
 
 SOURCE_GROUP("Source Files" FILES ${IDYNTREE_MODELIO_URDF_SOURCES})
@@ -67,7 +61,6 @@ add_library(iDynTree::${libraryname} ALIAS ${libraryname})
 target_compile_features(${libraryname} PRIVATE cxx_auto_type cxx_delegating_constructors cxx_final cxx_lambdas cxx_lambda_init_captures)
 
 target_include_directories(${libraryname} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                                 "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated>"
                                                  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/private>"
                                                  "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
 
diff --git a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h
deleted file mode 100644
index 84b9d581551..00000000000
--- a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#ifndef IDYNTREE_URDF_GENERIC_SENSORS_IMPORT_H
-#define IDYNTREE_URDF_GENERIC_SENSORS_IMPORT_H
-
-#include <string>
-
-#include <iDynTree/Core/Utils.h>
-
-#ifdef __DEPRECATED
-  #warning <iDynTree/ModelIO/URDFGenericSensorsImport.h> is deprecated. Please use <iDynTree/ModelIO/ModelLoader.h> and the classes contained in it. To disable this warning use -Wno-deprecated.
-#endif
-
-namespace iDynTree
-
-{
-
-class SensorsList;
-class Model;
-
-/**
- * Load a iDynTree::SensorsList object from a URDF file.
- *
- * The URDF syntax and the sensor supported are documented in
- * https://github.com/robotology/idyntree/blob/master/doc/model_loading.md .
- *
- *
- * @return true if all went ok, false otherwise.
- * @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.
- */
-IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.")
-bool sensorsFromURDF(const std::string & urdf_filename,
-                     iDynTree::SensorsList & output);
-
-/**
- * Load a iDynTree::SensorsList object from a URDF file, using a previous loaded
- * iDynTree::Model from the same URDF.
- *
- * The URDF syntax and the sensor supported are documented in
- * https://github.com/robotology/idyntree/blob/master/doc/model_loading.md .
- *
- *
- * @return true if all went ok, false otherwise.
- * @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.
- */
-IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.")
-bool sensorsFromURDF(const std::string & urdf_filename,
-                     const Model & model,
-                     iDynTree::SensorsList & output);
-
-/**
- * Load a iDynTree::SensorsList object from a URDF string.
- *
- * The URDF syntax and the sensor supported are documented in
- * https://github.com/robotology/idyntree/blob/master/doc/model_loading.md .
- *
- * @return true if all went ok, false otherwise.
- * @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.
- */
-IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.")
-bool sensorsFromURDFString(const std::string & urdf_string,
-                           iDynTree::SensorsList & output);
-
-/**
- * Load a iDynTree::SensorsList object from a URDF string, using a previous loaded
- * iDynTree::Model from the same URDF.
- *
- * The URDF syntax and the sensor supported are documented in
- * https://github.com/robotology/idyntree/blob/master/doc/model_loading.md .
- *
- * @return true if all went ok, false otherwise.
- * @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.
- */
-IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.")
-bool sensorsFromURDFString(const std::string & urdf_string,
-                           const Model & model,
-                           iDynTree::SensorsList & output);
-
-}
-
-#endif
diff --git a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h
deleted file mode 100644
index 8dd5e9f2927..00000000000
--- a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h
+++ /dev/null
@@ -1,106 +0,0 @@
-/*
- * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#ifndef IDYNTREE_URDF_MODEL_IMPORT_H
-#define IDYNTREE_URDF_MODEL_IMPORT_H
-
-#ifdef __DEPRECATED
-  #warning <iDynTree/ModelIO/URDFModelImport.h> is deprecated. Please use <iDynTree/ModelIO/ModelLoader.h> and the classes contained in it. To disable this warning use -Wno-deprecated.
-#endif
-
-#include <string>
-
-#include <iDynTree/Core/Utils.h>
-
-namespace iDynTree
-
-{
-
-class Model;
-
-/**
- * \ingroup iDynTreeModelIO
- *
- * Options for the iDynTree URDF parser.
- */
-
-struct IDYNTREE_DEPRECATED URDFParserOptions
-{
-    /**
-     * If true, add to the model the sensor frames
-     * as additional frames with the same name of the sensor.
-     * If there is already a link or additional frame with the same
-     * name of the sensor, a warning is printed and no frame is added.
-     */
-    bool addSensorFramesAsAdditionalFrames;
-
-    /**
-     * Original filename of the URDF sensor parsed.
-     *
-     * This attribute is the original filename of the URDF sensor parsed.
-     * It is useful when loading a model from a string, if that URDF string
-     * has <geometry> tags that point to external meshes. To find the location
-     * of this external meshes, we need also the original filename of the URDF file.
-     */
-    std::string originalFilename;
-
-    /**
-     * Constructor, containing default values.
-     */
-    URDFParserOptions(): addSensorFramesAsAdditionalFrames(true),
-                         originalFilename("")
-    {
-    }
-};
-
-/**
- * \ingroup iDynTreeModelIO
- *
- * Load a iDynTree::Model object from a URDF file.
- *
- * Loading the URDF with this function, the  "fake links"
- * present in the URDF file are   removed from the models
- * and added back as frames. See the removeFakeLinks
- * function, that is called inside this function before
- * returning the model.
- *
- * @param[in] options the URDFParserOptions struct of options passed to the parser
- * @return true if all went ok, false otherwise.
- *
- * @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::Model from a URDF file.
- */
-IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::Model from a URDF file.")
-bool modelFromURDF(const std::string & urdf_filename,
-                   iDynTree::Model & output,
-                   const URDFParserOptions options=URDFParserOptions());
-
-/**
- * \ingroup iDynTreeModelIO
- *
- * Loading the URDF with this function, the  "fake links"
- * present in the URDF file are   removed from the models
- * and added back as frames. See the removeFakeLinks
- * function, that is called inside this function before
- * returning the model. .
- *
- * @param[in] options the URDFParserOptions struct of options passed to the parser
- * @return true if all went ok, false otherwise.
- *
- * @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::Model from a URDF string.
- */
-IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::Model from a URDF string.")
-bool modelFromURDFString(const std::string & urdf_string,
-                         iDynTree::Model & output,
-                         const URDFParserOptions options=URDFParserOptions());
-
-
-}
-
-#endif
diff --git a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h
deleted file mode 100644
index 9ab40735b35..00000000000
--- a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * Copyright (C) 2016 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#ifndef IDYNTREE_URDF_SOLID_SHAPES_IMPORT_H
-#define IDYNTREE_URDF_SOLID_SHAPES_IMPORT_H
-
-#include <string>
-
-#include <iDynTree/Core/Utils.h>
-
-namespace iDynTree
-
-{
-
-class Model;
-class ModelSolidShapes;
-
-/**
- * \ingroup ModelIO
- *
- * Parse solid shapes from an URDF file.
- *
- * @param[in] urdfGeometryType can be "visual", "collision".
- * @return true if all went well, false otherwise.
- *
- * @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::ModelSolidShapes from a URDF file.
- */
-IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::ModelSolidShapes from a URDF file.")
-bool solidShapesFromURDF(const std::string & urdf_filename,
-                         const Model & model,
-                         const std::string urdfGeometryType,
-                               ModelSolidShapes & output);
-
-/**
- * \ingroup ModelIO
- *
- * Parse solid shapes from an URDF string.
- *
- * @param[in] urdf_string
- * @param[in] urdf_filename if the urdf was loaded from a
- * @param[in] urdfGeometryType can be "visual" or "collision".
- * @return true if all went well, false otherwise.
- * @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::ModelSolidShapes from a URDF string.
- */
-IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::ModelSolidShapes from a URDF string.")
-bool solidShapesFromURDFString(const std::string & urdf_string,
-                               const std::string & urdf_filename,
-                               const Model & model,
-                               const std::string urdfGeometryType,
-                                     iDynTree::ModelSolidShapes & output);
-
-}
-
-#endif
diff --git a/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp b/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp
deleted file mode 100644
index 5ad0beb66d0..00000000000
--- a/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#include "iDynTree/ModelIO/URDFGenericSensorsImport.h"
-#include "iDynTree/ModelIO/ModelLoader.h"
-
-namespace iDynTree
-{
-
-bool sensorsFromURDF(const std::string & urdf_filename,
-                     iDynTree::SensorsList & output)
-{
-    ModelLoader loader;
-    bool ok = loader.loadModelFromFile(urdf_filename);
-    output = loader.sensors();
-    return ok;
-}
-
-bool sensorsFromURDF(const std::string & urdf_filename,
-                     const Model & model,
-                     iDynTree::SensorsList & output)
-{
-    ModelLoader loader;
-    bool ok = loader.loadModelFromFile(urdf_filename);
-    output = loader.sensors();
-
-    if (!output.isConsistent(model))
-    {
-        reportError("", "sensorsFromURDF", "Specified Model is not consistent with the sensors extracted from URDF file."
-                        " Please use iDynTree::ModelLoader to parse both model and sensors at the same time.");
-        return false;
-    }
-
-    return ok;
-}
-
-bool sensorsFromURDFString(const std::string & urdf_string,
-                           iDynTree::SensorsList & output)
-{
-    ModelLoader loader;
-    bool ok = loader.loadModelFromString(urdf_string);
-    output = loader.sensors();
-    return ok;
-}
-
-bool sensorsFromURDFString(const std::string & urdf_string,
-                           const Model & model,
-                           iDynTree::SensorsList & output)
-{
-    ModelLoader loader;
-    bool ok = loader.loadModelFromString(urdf_string);
-    output = loader.sensors();
-
-    if (!output.isConsistent(model))
-    {
-        reportError("", "sensorsFromURDFString", "Specified Model is not consistent with the sensors extracted from URDF string."
-                        " Please use iDynTree::ModelLoader to parse both model and sensors at the same time.");
-        return false;
-    }
-
-    return ok;
-}
-
-}
-
diff --git a/src/model_io/urdf/src/deprecated/URDFModelImport.cpp b/src/model_io/urdf/src/deprecated/URDFModelImport.cpp
deleted file mode 100644
index 43e9e84ed32..00000000000
--- a/src/model_io/urdf/src/deprecated/URDFModelImport.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#include "iDynTree/ModelIO/URDFModelImport.h"
-
-#include "iDynTree/ModelIO/ModelLoader.h"
-
-#include <iDynTree/Model/Model.h>
-
-#include <cstdlib>
-#include <cmath>
-#include <iostream>
-#include <fstream>
-#include <set>
-
-namespace iDynTree
-{
-
-inline ModelParserOptions convertOptions(const URDFParserOptions options)
-{
-    ModelParserOptions retOptions;
-    retOptions.originalFilename = options.originalFilename;
-    retOptions.addSensorFramesAsAdditionalFrames = options.addSensorFramesAsAdditionalFrames;
-    return retOptions;
-}
-
-bool modelFromURDF(const std::string & urdf_filename,
-                   iDynTree::Model & output,
-                   const URDFParserOptions options)
-{
-    ModelLoader loader;
-    loader.setParsingOptions(convertOptions(options));
-    bool ok = loader.loadModelFromFile(urdf_filename);
-    output = loader.model();
-    return ok;
-}
-
-bool modelFromURDFString(const std::string & urdf_string,
-                         iDynTree::Model & output,
-                         const URDFParserOptions options)
-{
-    ModelLoader loader;
-    loader.setParsingOptions(convertOptions(options));
-    bool ok = loader.loadModelFromString(urdf_string);
-    output = loader.model();
-    return ok;
-}
-
-}
-
diff --git a/src/model_io/urdf/src/deprecated/URDFSolidShapesImport.cpp b/src/model_io/urdf/src/deprecated/URDFSolidShapesImport.cpp
deleted file mode 100644
index 5656ecc14a1..00000000000
--- a/src/model_io/urdf/src/deprecated/URDFSolidShapesImport.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#include "iDynTree/ModelIO/URDFSolidShapesImport.h"
-#include "iDynTree/ModelIO/ModelLoader.h"
-
-
-namespace iDynTree
-{
-
-bool solidShapesFromURDF(const std::string & urdf_filename,
-                         const Model & model,
-                         const std::string urdfGeometryType,
-                               ModelSolidShapes & output)
-{
-    if (urdfGeometryType != "visual" && urdfGeometryType != "collision")
-    {
-        std::cerr << "[ERROR] unknown urdfGeometryType " << urdfGeometryType << std::endl;
-        return false;
-    }
-
-    ModelLoader loader;
-    bool ok = loader.loadModelFromFile(urdf_filename);
-
-    if (ok && urdfGeometryType == "visual")
-    {
-        output = loader.model().visualSolidShapes();
-    }
-
-    if (ok && urdfGeometryType == "collision")
-    {
-        output = loader.model().collisionSolidShapes();
-    }
-
-    return ok;
-}
-
-bool solidShapesFromURDFString(const std::string & urdf_string,
-                               const std::string & urdf_filename,
-                               const Model & model,
-                               const std::string urdfGeometryType,
-                                     iDynTree::ModelSolidShapes & output)
-{
-    if (urdfGeometryType != "visual" && urdfGeometryType != "collision")
-    {
-        std::cerr << "[ERROR] unknown urdfGeometryType " << urdfGeometryType << std::endl;
-        return false;
-    }
-
-    ModelLoader loader;
-    ModelParserOptions options;
-    options.originalFilename = urdf_filename;
-    loader.setParsingOptions(options);
-    bool ok = loader.loadModelFromString(urdf_string);
-
-    if (ok && urdfGeometryType == "visual")
-    {
-        output = loader.model().visualSolidShapes();
-    }
-
-    if (ok && urdfGeometryType == "collision")
-    {
-        output = loader.model().collisionSolidShapes();
-    }
-
-    return ok;
-}
-
-}
-
diff --git a/src/optimalcontrol/include/iDynTree/OptimalControlProblem.h b/src/optimalcontrol/include/iDynTree/OptimalControlProblem.h
index 169c615fa1f..3094f55c9f6 100644
--- a/src/optimalcontrol/include/iDynTree/OptimalControlProblem.h
+++ b/src/optimalcontrol/include/iDynTree/OptimalControlProblem.h
@@ -76,11 +76,6 @@ namespace iDynTree {
 
             bool removeGroupOfConstraints(const std::string& name);
 
-            IDYNTREE_DEPRECATED_WITH_MSG("Use addConstraint() instead")
-            bool addContraint(std::shared_ptr<Constraint> newConstraint) {
-                return addConstraint(newConstraint);
-            }
-
             bool addConstraint(std::shared_ptr<Constraint> newConstraint); // this apply for the full horizon. It creates a group named with the same name and containing only newConstraint
 
             bool addConstraint(std::shared_ptr<LinearConstraint> newConstraint);
diff --git a/src/sensors/CMakeLists.txt b/src/sensors/CMakeLists.txt
index 6da6d183219..0e5937a3c2a 100644
--- a/src/sensors/CMakeLists.txt
+++ b/src/sensors/CMakeLists.txt
@@ -9,7 +9,6 @@
 set(IDYNTREE_SENSORS_HEADERS include/iDynTree/Sensors/AllSensorsTypes.h
                              include/iDynTree/Sensors/Sensors.h
                              include/iDynTree/Sensors/SixAxisForceTorqueSensor.h
-                             include/iDynTree/Sensors/SixAxisFTSensor.h
                              include/iDynTree/Sensors/GyroscopeSensor.h
                              include/iDynTree/Sensors/AccelerometerSensor.h
                              include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h
diff --git a/src/sensors/include/iDynTree/Sensors/AccelerometerSensor.h b/src/sensors/include/iDynTree/Sensors/AccelerometerSensor.h
index b4fc2989a2c..48cd5a67dfe 100644
--- a/src/sensors/include/iDynTree/Sensors/AccelerometerSensor.h
+++ b/src/sensors/include/iDynTree/Sensors/AccelerometerSensor.h
@@ -124,11 +124,6 @@ namespace iDynTree {
          */
         bool updateIndices(const Model & model);
 
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead")
-        bool updateIndeces(const Model & model);
-
-
       /**
         * Following method is to be implemented after defining the interface
         * Get wrench applied on the specified link expressed in the specified link frame.
diff --git a/src/sensors/include/iDynTree/Sensors/GyroscopeSensor.h b/src/sensors/include/iDynTree/Sensors/GyroscopeSensor.h
index c5ccf07232b..6f6b79ef210 100644
--- a/src/sensors/include/iDynTree/Sensors/GyroscopeSensor.h
+++ b/src/sensors/include/iDynTree/Sensors/GyroscopeSensor.h
@@ -123,10 +123,6 @@ namespace iDynTree {
          */
         bool updateIndices(const Model & model);
 
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead")
-        bool updateIndeces(const Model & model);
-
         /**
          * Predict sensor measurement when given the parent link spatial velocity, expressed
          * in the link orientation and wrt the link origin.
diff --git a/src/sensors/include/iDynTree/Sensors/Sensors.h b/src/sensors/include/iDynTree/Sensors/Sensors.h
index 16d06717081..57b56352774 100644
--- a/src/sensors/include/iDynTree/Sensors/Sensors.h
+++ b/src/sensors/include/iDynTree/Sensors/Sensors.h
@@ -141,13 +141,6 @@ namespace iDynTree {
          * Update all the indices (link/frames) contained in this sensor.
          */
         virtual bool updateIndices(const Model & model) = 0;
-
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead")
-        virtual bool updateIndeces(const Model & model)
-        {
-            return updateIndices(model);
-        }
     };
 
     /**
diff --git a/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h b/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h
deleted file mode 100644
index df6a1d603d4..00000000000
--- a/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia
- *
- * Licensed under either the GNU Lesser General Public License v3.0 :
- * https://www.gnu.org/licenses/lgpl-3.0.html
- * or the GNU Lesser General Public License v2.1 :
- * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
- * at your option.
- */
-
-#ifndef IDYNTREE_SIX_AXIS_FT_SENSOR_H
-#define IDYNTREE_SIX_AXIS_FT_SENSOR_H
-
-#ifdef __DEPRECATED
-  #warning <iDynTree/Sensors/SixAxisFTSensor.h> is deprecated. Please use <iDynTree/Sensors/SixAxisForceTorqueSensor.h>. To disable this warning use -Wno-deprecated.
-#endif
-
-#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h"
-
-#endif
diff --git a/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h b/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h
index c14786592bf..796ebf78266 100644
--- a/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h
+++ b/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h
@@ -161,10 +161,6 @@ namespace iDynTree {
          */
         bool updateIndices(const Model & model);
 
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead")
-        bool updateIndeces(const Model & model);
-
         /**
          * The Six Axis Force Torque sensor measure the Force Torque (wrench)
          * applied by a link on another link. This method returns the link
diff --git a/src/sensors/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h b/src/sensors/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h
index e57624e9b2f..a6c24fdf261 100644
--- a/src/sensors/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h
+++ b/src/sensors/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h
@@ -131,10 +131,6 @@ namespace iDynTree {
         * @return the predicted measurement as a AngAcceleration
         */
         Vector3 predictMeasurement(const iDynTree::SpatialAcc &linkAcc);
-
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use predictMeasurement(const iDynTree::SpatialAcc &linkAcc) instead")
-        Vector3 predictMeasurement(const iDynTree::SpatialAcc &linkAcc, const iDynTree::Twist &linkTwist);
     };
 
 
diff --git a/src/sensors/src/AccelerometerSensor.cpp b/src/sensors/src/AccelerometerSensor.cpp
index 1f1acbf595f..bbf0b4cc012 100644
--- a/src/sensors/src/AccelerometerSensor.cpp
+++ b/src/sensors/src/AccelerometerSensor.cpp
@@ -136,13 +136,6 @@ bool AccelerometerSensor::updateIndices(const Model& model)
     return true;
 }
 
-// Deprecated
-bool AccelerometerSensor::updateIndeces(const Model& model)
-{
-    return updateIndices(model);
-}
-
-
 std::string AccelerometerSensor::getName() const
 {
     return this->pimpl->name;
diff --git a/src/sensors/src/GyroscopeSensor.cpp b/src/sensors/src/GyroscopeSensor.cpp
index 97c017dd862..e5df3a33d61 100644
--- a/src/sensors/src/GyroscopeSensor.cpp
+++ b/src/sensors/src/GyroscopeSensor.cpp
@@ -121,14 +121,6 @@ bool GyroscopeSensor::updateIndices(const Model& model)
     return true;
 }
 
-// Deprecated
-bool GyroscopeSensor::updateIndeces(const Model& model)
-{
-    return updateIndices(model);
-}
-
-
-
 std::string GyroscopeSensor::getName() const
 {
     return this->pimpl->name;
diff --git a/src/sensors/src/SixAxisForceTorqueSensor.cpp b/src/sensors/src/SixAxisForceTorqueSensor.cpp
index 309bad765ef..6b42d429fd4 100644
--- a/src/sensors/src/SixAxisForceTorqueSensor.cpp
+++ b/src/sensors/src/SixAxisForceTorqueSensor.cpp
@@ -177,12 +177,6 @@ bool SixAxisForceTorqueSensor::updateIndices(const Model& model)
     return true;
 }
 
-// Deprecated
-bool SixAxisForceTorqueSensor::updateIndeces(const Model& model)
-{
-    return updateIndices(model);
-}
-
 std::string SixAxisForceTorqueSensor::getName() const
 {
     return this->pimpl->name;
diff --git a/src/sensors/src/ThreeAxisAngularAccelerometerSensor.cpp b/src/sensors/src/ThreeAxisAngularAccelerometerSensor.cpp
index 40797d63c80..94696573980 100644
--- a/src/sensors/src/ThreeAxisAngularAccelerometerSensor.cpp
+++ b/src/sensors/src/ThreeAxisAngularAccelerometerSensor.cpp
@@ -165,10 +165,4 @@ Vector3 ThreeAxisAngularAccelerometerSensor::predictMeasurement(const SpatialAcc
     return returnAcc;
 }
 
-// Deprecated
-Vector3 ThreeAxisAngularAccelerometerSensor::predictMeasurement(const SpatialAcc& linkAcc, const iDynTree::Twist& )
-{
-    return this->predictMeasurement(linkAcc);
-}
-
 }