diff --git a/docs/pipelines.md b/docs/pipelines.md
index fd09d3c228b..9ea591611cb 100644
--- a/docs/pipelines.md
+++ b/docs/pipelines.md
@@ -91,9 +91,7 @@ parameters can be passed to the `Pipeline` from a `PipelineRun`.
 
 Input parameters in the form of `$(params.foo)` are replaced inside of the
 [`PipelineTask` parameters' values](#pipeline-tasks) (see also
-[variable substitution](tasks.md#variable-substitution)). _As with
-[variable substitution](tasks.md#variable-substitution), the deprecated syntax
-`${params.foo}` will be supported until [#1170](https://github.com/tektoncd/pipeline/issues/1170)._
+[variable substitution](tasks.md#variable-substitution)).
 
 The following `Pipeline` declares an input parameter called 'context', and uses
 it in the `PipelineTask`'s parameter. The `description` and `default` fields for
diff --git a/docs/resources.md b/docs/resources.md
index d000e4911f9..2489f566a80 100644
--- a/docs/resources.md
+++ b/docs/resources.md
@@ -86,9 +86,6 @@ The `path` key is pre-defined and refers to the local path to a resource on the
 $(inputs.resouces.<name>.path)
 ```
 
-_The deprecated syntax `${}`, e.g. `${inputs.params.<name>}` will be supported
-until [#1170](https://github.com/tektoncd/pipeline/issues/1170)._
-
 ### Controlling where resources are mounted
 
 The optional field `targetPath` can be used to initialize a resource in specific
diff --git a/docs/tasks.md b/docs/tasks.md
index 86ce8a2ae3e..deaaf122799 100644
--- a/docs/tasks.md
+++ b/docs/tasks.md
@@ -400,9 +400,6 @@ $(inputs.params.<name>)
 
 Param values from resources can also be accessed using [variable substitution](./resources.md#variable-substitution)
 
-_The deprecated syntax `${}`, e.g. `${inputs.params.<name>}` will be supported
-until [#1170](https://github.com/tektoncd/pipeline/issues/1170)._
-
 #### Variable Substitution with Parameters of Type `Array`
 
 Referenced parameters of type `array` will expand to insert the array elements in the reference string's spot.
diff --git a/pkg/apis/pipeline/v1alpha1/param_types_test.go b/pkg/apis/pipeline/v1alpha1/param_types_test.go
index e83cb9a8ceb..4d875fe8820 100644
--- a/pkg/apis/pipeline/v1alpha1/param_types_test.go
+++ b/pkg/apis/pipeline/v1alpha1/param_types_test.go
@@ -128,42 +128,6 @@ func TestArrayOrString_ApplyReplacements(t *testing.T) {
 			arrayReplacements:  map[string][]string{"arraykey": {}},
 		},
 		expectedOutput: builder.ArrayOrString("firstvalue", "lastvalue"),
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated string replacements on string",
-		args: args{
-			input:              builder.ArrayOrString("astring${some} asdf ${anotherkey}"),
-			stringReplacements: map[string]string{"some": "value", "anotherkey": "value"},
-			arrayReplacements:  map[string][]string{"arraykey": {"array", "value"}, "sdfdf": {"asdf", "sdfsd"}},
-		},
-		expectedOutput: builder.ArrayOrString("astringvalue asdf value"),
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated single array replacement",
-		args: args{
-			input:              builder.ArrayOrString("firstvalue", "${arraykey}", "lastvalue"),
-			stringReplacements: map[string]string{"some": "value", "anotherkey": "value"},
-			arrayReplacements:  map[string][]string{"arraykey": {"array", "value"}, "sdfdf": {"asdf", "sdfsd"}},
-		},
-		expectedOutput: builder.ArrayOrString("firstvalue", "array", "value", "lastvalue"),
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated multiple array replacement",
-		args: args{
-			input:              builder.ArrayOrString("firstvalue", "${arraykey}", "lastvalue", "${sdfdf}"),
-			stringReplacements: map[string]string{"some": "value", "anotherkey": "value"},
-			arrayReplacements:  map[string][]string{"arraykey": {"array", "value"}, "sdfdf": {"asdf", "sdfsd"}},
-		},
-		expectedOutput: builder.ArrayOrString("firstvalue", "array", "value", "lastvalue", "asdf", "sdfsd"),
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated empty array replacement",
-		args: args{
-			input:              builder.ArrayOrString("firstvalue", "${arraykey}", "lastvalue"),
-			stringReplacements: map[string]string{"some": "value", "anotherkey": "value"},
-			arrayReplacements:  map[string][]string{"arraykey": {}},
-		},
-		expectedOutput: builder.ArrayOrString("firstvalue", "lastvalue"),
 	}}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
diff --git a/pkg/apis/pipeline/v1alpha1/pipeline_validation_test.go b/pkg/apis/pipeline/v1alpha1/pipeline_validation_test.go
index 0b8421fd94e..29f1a9ddbf9 100644
--- a/pkg/apis/pipeline/v1alpha1/pipeline_validation_test.go
+++ b/pkg/apis/pipeline/v1alpha1/pipeline_validation_test.go
@@ -152,35 +152,6 @@ func TestPipelineSpec_Validate(t *testing.T) {
 				tb.PipelineTaskParam("a-param", "$(input.workspace.$(baz))")),
 		)),
 		failureExpected: false,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated valid parameter variables",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("baz", v1alpha1.ParamTypeString),
-			tb.PipelineParamSpec("foo-is-baz", v1alpha1.ParamTypeString),
-			tb.PipelineTask("bar", "bar-task",
-				tb.PipelineTaskParam("a-param", "${baz} and ${foo-is-baz}")),
-		)),
-		failureExpected: false,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated valid array parameter variables",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("baz", v1alpha1.ParamTypeArray, tb.ParamSpecDefault("some", "default")),
-			tb.PipelineParamSpec("foo-is-baz", v1alpha1.ParamTypeArray),
-			tb.PipelineTask("bar", "bar-task",
-				tb.PipelineTaskParam("a-param", "${baz}", "and", "${foo-is-baz}")),
-		)),
-		failureExpected: false,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated pipeline parameter nested in task parameter",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("baz", v1alpha1.ParamTypeString),
-			tb.PipelineTask("bar", "bar-task",
-				tb.PipelineTaskParam("a-param", "${input.workspace.${baz}}")),
-		)),
-		failureExpected: false,
 	}, {
 		name: "duplicate tasks",
 		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
@@ -305,67 +276,6 @@ func TestPipelineSpec_Validate(t *testing.T) {
 				tb.PipelineTaskParam("a-param", "first", "value: $(params.baz)", "last")),
 		)),
 		failureExpected: true,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated not defined parameter variable",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineTask("foo", "foo-task",
-				tb.PipelineTaskParam("a-param", "${params.does-not-exist}")))),
-		failureExpected: true,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "not defined parameter variable with defined",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("foo", v1alpha1.ParamTypeString, tb.ParamSpecDefault("something")),
-			tb.PipelineTask("foo", "foo-task",
-				tb.PipelineTaskParam("a-param", "${params.foo} and ${params.does-not-exist}")))),
-		failureExpected: true,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated invalid parameter type",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("baz", "invalidtype", tb.ParamSpecDefault("some", "default")),
-			tb.PipelineParamSpec("foo-is-baz", v1alpha1.ParamTypeArray),
-			tb.PipelineTask("bar", "bar-task",
-				tb.PipelineTaskParam("a-param", "${baz}", "and", "${foo-is-baz}")),
-		)),
-		failureExpected: true,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated array parameter mismatching default type",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("baz", v1alpha1.ParamTypeArray, tb.ParamSpecDefault("astring")),
-			tb.PipelineTask("bar", "bar-task",
-				tb.PipelineTaskParam("a-param", "arrayelement", "${baz}")),
-		)),
-		failureExpected: true,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated string parameter mismatching default type",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("baz", v1alpha1.ParamTypeString, tb.ParamSpecDefault("anarray", "elements")),
-			tb.PipelineTask("bar", "bar-task",
-				tb.PipelineTaskParam("a-param", "arrayelement", "${baz}")),
-		)),
-		failureExpected: true,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated array parameter used as string",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("baz", v1alpha1.ParamTypeArray, tb.ParamSpecDefault("anarray", "elements")),
-			tb.PipelineTask("bar", "bar-task",
-				tb.PipelineTaskParam("a-param", "${params.baz}")),
-		)),
-		failureExpected: true,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated array parameter string template not isolated",
-		p: tb.Pipeline("pipeline", "namespace", tb.PipelineSpec(
-			tb.PipelineParamSpec("baz", v1alpha1.ParamTypeArray, tb.ParamSpecDefault("anarray", "elements")),
-			tb.PipelineTask("bar", "bar-task",
-				tb.PipelineTaskParam("a-param", "first", "value: ${params.baz}", "last")),
-		)),
-		failureExpected: true,
 	}, {
 		name: "invalid dependency graph between the tasks",
 		p: tb.Pipeline("foo", "namespace", tb.PipelineSpec(
diff --git a/pkg/apis/pipeline/v1alpha1/step_replacements_test.go b/pkg/apis/pipeline/v1alpha1/step_replacements_test.go
index b889fd7b09b..af4ae8dcc15 100644
--- a/pkg/apis/pipeline/v1alpha1/step_replacements_test.go
+++ b/pkg/apis/pipeline/v1alpha1/step_replacements_test.go
@@ -34,45 +34,45 @@ func TestApplyStepReplacements(t *testing.T) {
 	}
 
 	s := v1alpha1.Step{Container: corev1.Container{
-		Name:       "${replace.me}",
-		Image:      "${replace.me}",
-		Command:    []string{"${array.replace.me}"},
-		Args:       []string{"${array.replace.me}"},
-		WorkingDir: "${replace.me}",
+		Name:       "$(replace.me)",
+		Image:      "$(replace.me)",
+		Command:    []string{"$(array.replace.me)"},
+		Args:       []string{"$(array.replace.me)"},
+		WorkingDir: "$(replace.me)",
 		EnvFrom: []corev1.EnvFromSource{{
 			ConfigMapRef: &corev1.ConfigMapEnvSource{
 				LocalObjectReference: corev1.LocalObjectReference{
-					Name: "${replace.me}",
+					Name: "$(replace.me)",
 				},
 			},
 			SecretRef: &corev1.SecretEnvSource{
 				LocalObjectReference: corev1.LocalObjectReference{
-					Name: "${replace.me}",
+					Name: "$(replace.me)",
 				},
 			},
 		}},
 		Env: []corev1.EnvVar{{
 			Name:  "not_me",
-			Value: "${replace.me}",
+			Value: "$(replace.me)",
 			ValueFrom: &corev1.EnvVarSource{
 				ConfigMapKeyRef: &corev1.ConfigMapKeySelector{
 					LocalObjectReference: corev1.LocalObjectReference{
-						Name: "${replace.me}",
+						Name: "$(replace.me)",
 					},
-					Key: "${replace.me}",
+					Key: "$(replace.me)",
 				},
 				SecretKeyRef: &corev1.SecretKeySelector{
 					LocalObjectReference: corev1.LocalObjectReference{
-						Name: "${replace.me}",
+						Name: "$(replace.me)",
 					},
-					Key: "${replace.me}",
+					Key: "$(replace.me)",
 				},
 			},
 		}},
 		VolumeMounts: []corev1.VolumeMount{{
-			Name:      "${replace.me}",
-			MountPath: "${replace.me}",
-			SubPath:   "${replace.me}",
+			Name:      "$(replace.me)",
+			MountPath: "$(replace.me)",
+			SubPath:   "$(replace.me)",
 		}},
 	}}
 
@@ -126,7 +126,7 @@ func TestApplyStepReplacements(t *testing.T) {
 
 func TestApplyStepReplacements_NotDefined(t *testing.T) {
 	s := v1alpha1.Step{Container: corev1.Container{
-		Name: "${params.not.defined}",
+		Name: "$(params.not.defined)",
 	}}
 	replacements := map[string]string{
 		"replace.me": "replaced!",
@@ -137,7 +137,7 @@ func TestApplyStepReplacements_NotDefined(t *testing.T) {
 	}
 
 	expected := v1alpha1.Step{Container: corev1.Container{
-		Name: "${params.not.defined}",
+		Name: "$(params.not.defined)",
 	}}
 	v1alpha1.ApplyStepReplacements(&s, replacements, arrayReplacements)
 	if d := cmp.Diff(s, expected); d != "" {
diff --git a/pkg/apis/pipeline/v1alpha1/substitution.go b/pkg/apis/pipeline/v1alpha1/substitution.go
index c79c224c681..5bab384883d 100644
--- a/pkg/apis/pipeline/v1alpha1/substitution.go
+++ b/pkg/apis/pipeline/v1alpha1/substitution.go
@@ -26,8 +26,7 @@ import (
 
 const parameterSubstitution = "[_a-zA-Z][_a-zA-Z0-9.-]*"
 
-//TODO(#1170): Regex matches both ${} and $(), we will need to remove ${} compatibility.
-const braceMatchingRegex = "(\\$({%s.(?P<deprecated>%s)}))|(\\$(\\(%s.(?P<var>%s)\\)))"
+const braceMatchingRegex = "(\\$(\\(%s.(?P<var>%s)\\)))"
 
 func ValidateVariable(name, value, prefix, contextPrefix, locationName, path string, vars map[string]struct{}) *apis.FieldError {
 	if vs, present := extractVariablesFromString(value, contextPrefix+prefix); present {
@@ -76,10 +75,10 @@ func ValidateVariableIsolated(name, value, prefix, contextPrefix, locationName,
 	return nil
 }
 
-// Extract a the first full string expressions found (e.g "${input.params.foo}"). Return
+// Extract a the first full string expressions found (e.g "$(input.params.foo)"). Return
 // "" and false if nothing is found.
 func extractExpressionFromString(s, prefix string) (string, bool) {
-	pattern := fmt.Sprintf(braceMatchingRegex, prefix, parameterSubstitution, prefix, parameterSubstitution)
+	pattern := fmt.Sprintf(braceMatchingRegex, prefix, parameterSubstitution)
 	re := regexp.MustCompile(pattern)
 	match := re.FindStringSubmatch(s)
 	if match == nil {
@@ -89,7 +88,7 @@ func extractExpressionFromString(s, prefix string) (string, bool) {
 }
 
 func extractVariablesFromString(s, prefix string) ([]string, bool) {
-	pattern := fmt.Sprintf(braceMatchingRegex, prefix, parameterSubstitution, prefix, parameterSubstitution)
+	pattern := fmt.Sprintf(braceMatchingRegex, prefix, parameterSubstitution)
 	re := regexp.MustCompile(pattern)
 	matches := re.FindAllStringSubmatch(s, -1)
 	if len(matches) == 0 {
@@ -101,14 +100,7 @@ func extractVariablesFromString(s, prefix string) ([]string, bool) {
 		// foo -> foo
 		// foo.bar -> foo
 		// foo.bar.baz -> foo
-		var v string
-		if groups["var"] != "" {
-			v = groups["var"]
-		} else {
-			//TODO(#1170): Regex matches both ${} and $(), we will need to remove ${} compatibility.
-			v = groups["deprecated"]
-		}
-		vars[i] = strings.SplitN(v, ".", 2)[0]
+		vars[i] = strings.SplitN(groups["var"], ".", 2)[0]
 	}
 	return vars, true
 }
@@ -124,9 +116,6 @@ func matchGroups(matches []string, pattern *regexp.Regexp) map[string]string {
 func ApplyReplacements(in string, replacements map[string]string) string {
 	for k, v := range replacements {
 		in = strings.Replace(in, fmt.Sprintf("$(%s)", k), v, -1)
-
-		//TODO(#1170): Delete the line below when we want to remove support for ${} variable interpolation:
-		in = strings.Replace(in, fmt.Sprintf("${%s}", k), v, -1)
 	}
 	return in
 }
@@ -143,12 +132,6 @@ func ApplyArrayReplacements(in string, stringReplacements map[string]string, arr
 		if (strings.Count(in, stringToReplace) == 1) && len(in) == len(stringToReplace) {
 			return v
 		}
-
-		//TODO(#1170): Delete the block below when we want to remove support for ${} variable interpolation:
-		deprecatedStringToReplace := fmt.Sprintf("${%s}", k)
-		if (strings.Count(in, deprecatedStringToReplace) == 1) && len(in) == len(deprecatedStringToReplace) {
-			return v
-		}
 	}
 
 	// Otherwise return a size-1 array containing the input string with standard stringReplacements applied.
diff --git a/pkg/apis/pipeline/v1alpha1/substitution_test.go b/pkg/apis/pipeline/v1alpha1/substitution_test.go
index aee4588d6fe..4059d78e92e 100644
--- a/pkg/apis/pipeline/v1alpha1/substitution_test.go
+++ b/pkg/apis/pipeline/v1alpha1/substitution_test.go
@@ -109,82 +109,6 @@ func TestValidateVariables(t *testing.T) {
 			Message: `non-existent variable in "--flag=$(inputs.params.baz) $(input.params.foo)" for step somefield`,
 			Paths:   []string{"taskspec.steps.somefield"},
 		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated valid variable",
-		args: args{
-			input:         "--flag=${inputs.params.baz}",
-			prefix:        "params",
-			contextPrefix: "inputs.",
-			locationName:  "step",
-			path:          "taskspec.steps",
-			vars: map[string]struct{}{
-				"baz": {},
-			},
-		},
-		expectedError: nil,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated multiple variables",
-		args: args{
-			input:         "--flag=${inputs.params.baz} ${input.params.foo}",
-			prefix:        "params",
-			contextPrefix: "inputs.",
-			locationName:  "step",
-			path:          "taskspec.steps",
-			vars: map[string]struct{}{
-				"baz": {},
-				"foo": {},
-			},
-		},
-		expectedError: nil,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated different context and prefix",
-		args: args{
-			input:        "--flag=${something.baz}",
-			prefix:       "something",
-			locationName: "step",
-			path:         "taskspec.steps",
-			vars: map[string]struct{}{
-				"baz": {},
-			},
-		},
-		expectedError: nil,
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated undefined variable",
-		args: args{
-			input:         "--flag=${inputs.params.baz}",
-			prefix:        "params",
-			contextPrefix: "inputs.",
-			locationName:  "step",
-			path:          "taskspec.steps",
-			vars: map[string]struct{}{
-				"foo": {},
-			},
-		},
-		expectedError: &apis.FieldError{
-			Message: `non-existent variable in "--flag=${inputs.params.baz}" for step somefield`,
-			Paths:   []string{"taskspec.steps.somefield"},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated undefined variable and defined variable",
-		args: args{
-			input:         "--flag=${inputs.params.baz} ${input.params.foo}",
-			prefix:        "params",
-			contextPrefix: "inputs.",
-			locationName:  "step",
-			path:          "taskspec.steps",
-			vars: map[string]struct{}{
-				"foo": {},
-			},
-		},
-		expectedError: &apis.FieldError{
-			Message: `non-existent variable in "--flag=${inputs.params.baz} ${input.params.foo}" for step somefield`,
-			Paths:   []string{"taskspec.steps.somefield"},
-		},
 	}} {
 		t.Run(tc.name, func(t *testing.T) {
 			got := v1alpha1.ValidateVariable("somefield", tc.args.input, tc.args.prefix, tc.args.contextPrefix, tc.args.locationName, tc.args.path, tc.args.vars)
@@ -217,7 +141,7 @@ func TestApplyReplacements(t *testing.T) {
 		{
 			name: "single replacement requested",
 			args: args{
-				input:        "this is ${a} string",
+				input:        "this is $(a) string",
 				replacements: map[string]string{"a": "not a"},
 			},
 			expectedOutput: "this is not a string",
@@ -225,7 +149,7 @@ func TestApplyReplacements(t *testing.T) {
 		{
 			name: "single replacement requested multiple matches",
 			args: args{
-				input:        "this ${is} a string ${is} a string",
+				input:        "this $(is) a string $(is) a string",
 				replacements: map[string]string{"is": "a"},
 			},
 			expectedOutput: "this a a string a a string",
@@ -233,7 +157,7 @@ func TestApplyReplacements(t *testing.T) {
 		{
 			name: "multiple replacements requested",
 			args: args{
-				input:        "this ${is} a ${string} ${is} a ${string}",
+				input:        "this $(is) a $(string) $(is) a $(string)",
 				replacements: map[string]string{"is": "a", "string": "sstring"},
 			},
 			expectedOutput: "this a a sstring a a sstring",
@@ -286,7 +210,7 @@ func TestApplyArrayReplacements(t *testing.T) {
 	}, {
 		name: "multiple replacements only string replacement possible",
 		args: args{
-			input:              "${string}rep${lacement}${string}",
+			input:              "$(string)rep$(lacement)$(string)",
 			stringReplacements: map[string]string{"string": "word", "lacement": "lacements"},
 			arrayReplacements:  map[string][]string{"ace": {"replacement", "a"}, "string": {"1", "2"}},
 		},
@@ -294,7 +218,7 @@ func TestApplyArrayReplacements(t *testing.T) {
 	}, {
 		name: "array replacement",
 		args: args{
-			input:              "${match}",
+			input:              "$(match)",
 			stringReplacements: map[string]string{"string": "word", "lacement": "lacements"},
 			arrayReplacements:  map[string][]string{"ace": {"replacement", "a"}, "match": {"1", "2"}},
 		},
diff --git a/pkg/apis/pipeline/v1alpha1/task_validation_test.go b/pkg/apis/pipeline/v1alpha1/task_validation_test.go
index b0d79a6ae26..33e6d1fca81 100644
--- a/pkg/apis/pipeline/v1alpha1/task_validation_test.go
+++ b/pkg/apis/pipeline/v1alpha1/task_validation_test.go
@@ -180,53 +180,6 @@ func TestTaskSpecValidate(t *testing.T) {
 				WorkingDir: "/foo/bar/$(outputs.resources.source)",
 			}}},
 		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated valid template variable",
-		fields: fields{
-			Inputs: &v1alpha1.Inputs{
-				Resources: []v1alpha1.TaskResource{validImageResource},
-				Params: []v1alpha1.ParamSpec{{
-					Name: "baz",
-				}, {
-					Name: "foo-is-baz",
-				}},
-			},
-			Outputs: &v1alpha1.Outputs{
-				Resources: []v1alpha1.TaskResource{validResource},
-			},
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:       "mystep",
-				Image:      "${inputs.resources.source.url}",
-				Args:       []string{"--flag=${inputs.params.baz} && ${input.params.foo-is-baz}"},
-				WorkingDir: "/foo/bar/${outputs.resources.source}",
-			}}},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated valid array template variable",
-		fields: fields{
-			Inputs: &v1alpha1.Inputs{
-				Resources: []v1alpha1.TaskResource{validImageResource},
-				Params: []v1alpha1.ParamSpec{{
-					Name: "baz",
-					Type: v1alpha1.ParamTypeArray,
-				}, {
-					Name: "foo-is-baz",
-					Type: v1alpha1.ParamTypeArray,
-				}},
-			},
-			Outputs: &v1alpha1.Outputs{
-				Resources: []v1alpha1.TaskResource{validResource},
-			},
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:       "mystep",
-				Image:      "${inputs.resources.source.url}",
-				Command:    []string{"${inputs.param.foo-is-baz}"},
-				Args:       []string{"${inputs.params.baz}", "middle string", "${input.params.foo-is-baz}"},
-				WorkingDir: "/foo/bar/${outputs.resources.source}",
-			}}},
-		},
 	}, {
 		name: "step template included in validation",
 		fields: fields{
@@ -467,20 +420,6 @@ func TestTaskSpecValidateError(t *testing.T) {
 			Message: `non-existent variable in "--flag=$(inputs.params.inexistent)" for step arg[0]`,
 			Paths:   []string{"taskspec.steps.arg[0]"},
 		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated inexistent input param variable",
-		fields: fields{
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:  "mystep",
-				Image: "myimage",
-				Args:  []string{"--flag=${inputs.params.inexistent}"},
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `non-existent variable in "--flag=${inputs.params.inexistent}" for step arg[0]`,
-			Paths:   []string{"taskspec.steps.arg[0]"},
-		},
 	}, {
 		name: "array used in unaccepted field",
 		fields: fields{
@@ -502,7 +441,7 @@ func TestTaskSpecValidateError(t *testing.T) {
 				Image:      "$(inputs.params.baz)",
 				Command:    []string{"$(inputs.param.foo-is-baz)"},
 				Args:       []string{"$(inputs.params.baz)", "middle string", "$(input.resources.foo.url)"},
-				WorkingDir: "/foo/bar/${outputs.resources.source}",
+				WorkingDir: "/foo/bar/$(outputs.resources.source)",
 			}}},
 		},
 		expectedError: apis.FieldError{
@@ -530,7 +469,7 @@ func TestTaskSpecValidateError(t *testing.T) {
 				Image:      "someimage",
 				Command:    []string{"$(inputs.param.foo-is-baz)"},
 				Args:       []string{"not isolated: $(inputs.params.baz)", "middle string", "$(input.resources.foo.url)"},
-				WorkingDir: "/foo/bar/${outputs.resources.source}",
+				WorkingDir: "/foo/bar/$(outputs.resources.source)",
 			}}},
 		},
 		expectedError: apis.FieldError{
@@ -658,191 +597,6 @@ func TestTaskSpecValidateError(t *testing.T) {
 			Message: `non-existent variable in "$(inputs.params.foo) && $(inputs.params.inexistent)" for step arg[0]`,
 			Paths:   []string{"taskspec.steps.arg[0]"},
 		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprected array used in unaccepted field",
-		fields: fields{
-			Inputs: &v1alpha1.Inputs{
-				Resources: []v1alpha1.TaskResource{validImageResource},
-				Params: []v1alpha1.ParamSpec{{
-					Name: "baz",
-					Type: v1alpha1.ParamTypeArray,
-				}, {
-					Name: "foo-is-baz",
-					Type: v1alpha1.ParamTypeArray,
-				}},
-			},
-			Outputs: &v1alpha1.Outputs{
-				Resources: []v1alpha1.TaskResource{validResource},
-			},
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:       "mystep",
-				Image:      "${inputs.params.baz}",
-				Command:    []string{"${inputs.param.foo-is-baz}"},
-				Args:       []string{"${inputs.params.baz}", "middle string", "${input.resources.foo.url}"},
-				WorkingDir: "/foo/bar/${outputs.resources.source}",
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `variable type invalid in "${inputs.params.baz}" for step image`,
-			Paths:   []string{"taskspec.steps.image"},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "depreated array not properly isolated",
-		fields: fields{
-			Inputs: &v1alpha1.Inputs{
-				Resources: []v1alpha1.TaskResource{validImageResource},
-				Params: []v1alpha1.ParamSpec{{
-					Name: "baz",
-					Type: v1alpha1.ParamTypeArray,
-				}, {
-					Name: "foo-is-baz",
-					Type: v1alpha1.ParamTypeArray,
-				}},
-			},
-			Outputs: &v1alpha1.Outputs{
-				Resources: []v1alpha1.TaskResource{validResource},
-			},
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:       "mystep",
-				Image:      "someimage",
-				Command:    []string{"${inputs.param.foo-is-baz}"},
-				Args:       []string{"not isolated: ${inputs.params.baz}", "middle string", "${input.resources.foo.url}"},
-				WorkingDir: "/foo/bar/${outputs.resources.source}",
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `variable is not properly isolated in "not isolated: ${inputs.params.baz}" for step arg[0]`,
-			Paths:   []string{"taskspec.steps.arg[0]"},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated array not properly isolated",
-		fields: fields{
-			Inputs: &v1alpha1.Inputs{
-				Resources: []v1alpha1.TaskResource{validImageResource},
-				Params: []v1alpha1.ParamSpec{{
-					Name: "baz",
-					Type: v1alpha1.ParamTypeArray,
-				}, {
-					Name: "foo-is-baz",
-					Type: v1alpha1.ParamTypeArray,
-				}},
-			},
-			Outputs: &v1alpha1.Outputs{
-				Resources: []v1alpha1.TaskResource{validResource},
-			},
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:       "mystep",
-				Image:      "someimage",
-				Command:    []string{"${inputs.param.foo-is-baz}"},
-				Args:       []string{"not isolated: ${inputs.params.baz}", "middle string", "${input.resources.foo.url}"},
-				WorkingDir: "/foo/bar/${outputs.resources.source}",
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `variable is not properly isolated in "not isolated: ${inputs.params.baz}" for step arg[0]`,
-			Paths:   []string{"taskspec.steps.arg[0]"},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated inexistent input resource variable",
-		fields: fields{
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:  "mystep",
-				Image: "myimage:${inputs.resources.inputs}",
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `non-existent variable in "myimage:${inputs.resources.inputs}" for step image`,
-			Paths:   []string{"taskspec.steps.image"},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated inferred array not properly isolated",
-		fields: fields{
-			Inputs: &v1alpha1.Inputs{
-				Resources: []v1alpha1.TaskResource{validImageResource},
-				Params: []v1alpha1.ParamSpec{{
-					Name: "baz",
-					Default: &v1alpha1.ArrayOrString{
-						Type:     v1alpha1.ParamTypeArray,
-						ArrayVal: []string{"implied", "array", "type"},
-					},
-				}, {
-					Name: "foo-is-baz",
-					Default: &v1alpha1.ArrayOrString{
-						Type:     v1alpha1.ParamTypeArray,
-						ArrayVal: []string{"implied", "array", "type"},
-					},
-				}},
-			},
-			Outputs: &v1alpha1.Outputs{
-				Resources: []v1alpha1.TaskResource{validResource},
-			},
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:       "mystep",
-				Image:      "someimage",
-				Command:    []string{"${inputs.param.foo-is-baz}"},
-				Args:       []string{"not isolated: ${inputs.params.baz}", "middle string", "${input.resources.foo.url}"},
-				WorkingDir: "/foo/bar/${outputs.resources.source}",
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `variable is not properly isolated in "not isolated: ${inputs.params.baz}" for step arg[0]`,
-			Paths:   []string{"taskspec.steps.arg[0]"},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated inexistent input resource variable",
-		fields: fields{
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:  "mystep",
-				Image: "myimage:${inputs.resources.inputs}",
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `non-existent variable in "myimage:${inputs.resources.inputs}" for step image`,
-			Paths:   []string{"taskspec.steps.image"},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated inexistent output param variable",
-		fields: fields{
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:       "mystep",
-				Image:      "myimage",
-				WorkingDir: "/foo/bar/${outputs.resources.inexistent}",
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `non-existent variable in "/foo/bar/${outputs.resources.inexistent}" for step workingDir`,
-			Paths:   []string{"taskspec.steps.workingDir"},
-		},
-	}, {
-		// TODO(#1170): Remove support for ${} syntax
-		name: "deprecated Inexistent param variable with existing",
-		fields: fields{
-			Inputs: &v1alpha1.Inputs{
-				Params: []v1alpha1.ParamSpec{
-					{
-						Name:        "foo",
-						Description: "param",
-						Default:     builder.ArrayOrString("default"),
-					},
-				},
-			},
-			Steps: []v1alpha1.Step{{Container: corev1.Container{
-				Name:  "mystep",
-				Image: "myimage",
-				Args:  []string{"${inputs.params.foo} && ${inputs.params.inexistent}"},
-			}}},
-		},
-		expectedError: apis.FieldError{
-			Message: `non-existent variable in "${inputs.params.foo} && ${inputs.params.inexistent}" for step arg[0]`,
-			Paths:   []string{"taskspec.steps.arg[0]"},
-		},
 	}}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
diff --git a/pkg/reconciler/pipelinerun/resources/apply_test.go b/pkg/reconciler/pipelinerun/resources/apply_test.go
index 03c9af2b458..24bc03def68 100644
--- a/pkg/reconciler/pipelinerun/resources/apply_test.go
+++ b/pkg/reconciler/pipelinerun/resources/apply_test.go
@@ -39,8 +39,7 @@ func TestApplyParameters(t *testing.T) {
 				tb.PipelineParamSpec("second-param", v1alpha1.ParamTypeString),
 				tb.PipelineTask("first-task-1", "first-task",
 					tb.PipelineTaskParam("first-task-first-param", "$(params.first-param)"),
-					// TODO(#1170): Remove support for ${} syntax
-					tb.PipelineTaskParam("first-task-second-param", "${params.second-param}"),
+					tb.PipelineTaskParam("first-task-second-param", "$(params.second-param)"),
 					tb.PipelineTaskParam("first-task-third-param", "static value"),
 				))),
 		run: tb.PipelineRun("test-pipeline-run", "foo",
@@ -63,8 +62,7 @@ func TestApplyParameters(t *testing.T) {
 				tb.PipelineParamSpec("second-param", v1alpha1.ParamTypeString, tb.ParamSpecDefault("default-value")),
 				tb.PipelineTask("first-task-1", "first-task",
 					tb.PipelineTaskParam("first-task-first-param", "$(input.workspace.$(params.first-param))"),
-					// TODO(#1170): Remove support for ${} syntax
-					tb.PipelineTaskParam("first-task-second-param", "${input.workspace.${params.second-param}}"),
+					tb.PipelineTaskParam("first-task-second-param", "$(input.workspace.$(params.second-param))"),
 				))),
 		run: tb.PipelineRun("test-pipeline-run", "foo",
 			tb.PipelineRunSpec("test-pipeline")),
@@ -74,7 +72,7 @@ func TestApplyParameters(t *testing.T) {
 				tb.PipelineParamSpec("second-param", v1alpha1.ParamTypeString, tb.ParamSpecDefault("default-value")),
 				tb.PipelineTask("first-task-1", "first-task",
 					tb.PipelineTaskParam("first-task-first-param", "$(input.workspace.default-value)"),
-					tb.PipelineTaskParam("first-task-second-param", "${input.workspace.default-value}"),
+					tb.PipelineTaskParam("first-task-second-param", "$(input.workspace.default-value)"),
 				))),
 	}, {
 		name: "parameters in task condition",
@@ -85,8 +83,7 @@ func TestApplyParameters(t *testing.T) {
 				tb.PipelineTask("first-task-1", "first-task",
 					tb.PipelineTaskCondition("task-condition",
 						tb.PipelineTaskConditionParam("cond-first-param", "$(params.first-param)"),
-						// TODO(#1170): Remove support for ${} syntax
-						tb.PipelineTaskConditionParam("cond-second-param", "${params.second-param}"),
+						tb.PipelineTaskConditionParam("cond-second-param", "$(params.second-param)"),
 					),
 				))),
 		run: tb.PipelineRun("test-pipeline-run", "foo",
@@ -114,8 +111,7 @@ func TestApplyParameters(t *testing.T) {
 					tb.PipelineTaskParam("first-task-first-param", "firstelement", "$(params.first-param)"),
 					tb.PipelineTaskParam("first-task-second-param", "first", "$(params.second-param)"),
 					tb.PipelineTaskParam("first-task-third-param", "static value"),
-					// TODO(#1170): Remove support for ${} syntax
-					tb.PipelineTaskParam("first-task-fourth-param", "first", "${params.fourth-param}"),
+					tb.PipelineTaskParam("first-task-fourth-param", "first", "$(params.fourth-param)"),
 				))),
 		run: tb.PipelineRun("test-pipeline-run", "foo",
 			tb.PipelineRunSpec("test-pipeline",
diff --git a/pkg/reconciler/pipelinerun/resources/conditionresolution.go b/pkg/reconciler/pipelinerun/resources/conditionresolution.go
index eeafee3a8ff..d3f3338c1c3 100644
--- a/pkg/reconciler/pipelinerun/resources/conditionresolution.go
+++ b/pkg/reconciler/pipelinerun/resources/conditionresolution.go
@@ -107,9 +107,9 @@ func (rcc *ResolvedConditionCheck) ConditionToTaskSpec() (*v1alpha1.TaskSpec, er
 		})
 	}
 
-	// convert param strings of type ${params.x} to ${inputs.params.x}
+	// convert param strings of type $(params.x) to $(inputs.params.x)
 	convertParamTemplates(&t.Steps[0], rcc.Condition.Spec.Params)
-	// convert resource strings of type ${resources.name.key} to ${inputs.resources.name.key}
+	// convert resource strings of type $(resources.name.key) to $(inputs.resources.name.key)
 	err := ApplyResourceSubstitution(&t.Steps[0], rcc.ResolvedResources, rcc.Condition.Spec.Resources)
 
 	if err != nil {
@@ -119,7 +119,7 @@ func (rcc *ResolvedConditionCheck) ConditionToTaskSpec() (*v1alpha1.TaskSpec, er
 	return t, nil
 }
 
-// Replaces all instances of ${params.x} in the container to ${inputs.params.x} for each param name
+// Replaces all instances of $(params.x) in the container to $(inputs.params.x) for each param name
 func convertParamTemplates(step *v1alpha1.Step, params []v1alpha1.ParamSpec) {
 	replacements := make(map[string]string)
 	for _, p := range params {
diff --git a/pkg/reconciler/taskrun/resources/apply_test.go b/pkg/reconciler/taskrun/resources/apply_test.go
index 43b1fa1be08..cd7a54a25af 100644
--- a/pkg/reconciler/taskrun/resources/apply_test.go
+++ b/pkg/reconciler/taskrun/resources/apply_test.go
@@ -55,20 +55,17 @@ var simpleTaskSpec = &v1alpha1.TaskSpec{
 		Image: "quux",
 		Args:  []string{"$(outputs.resources.imageToUse.url)"},
 	}}, {Container: corev1.Container{
-		Name: "foo",
-		// TODO(#1170): Remove support for ${} syntax
-		Image: "${inputs.params.myimage}",
+		Name:  "foo",
+		Image: "$(inputs.params.myimage)",
 	}}, {Container: corev1.Container{
-		Name:  "baz",
-		Image: "bat",
-		// TODO(#1170): Remove support for ${} syntax
-		WorkingDir: "${inputs.resources.workspace.path}",
-		Args:       []string{"${inputs.resources.workspace.url}"},
+		Name:       "baz",
+		Image:      "bat",
+		WorkingDir: "$(inputs.resources.workspace.path)",
+		Args:       []string{"$(inputs.resources.workspace.url)"},
 	}}, {Container: corev1.Container{
 		Name:  "qux",
 		Image: "quux",
-		// TODO(#1170): Remove support for ${} syntax
-		Args: []string{"${outputs.resources.imageToUse.url}"},
+		Args:  []string{"$(outputs.resources.imageToUse.url)"},
 	}}},
 }
 
@@ -88,12 +85,11 @@ var envTaskSpec = &v1alpha1.TaskSpec{
 				},
 			},
 		}, {
-			// TODO(#1170): Remove support for ${} syntax
 			Name: "baz",
 			ValueFrom: &corev1.EnvVarSource{
 				SecretKeyRef: &corev1.SecretKeySelector{
-					LocalObjectReference: corev1.LocalObjectReference{Name: "secret-${inputs.params.FOO}"},
-					Key:                  "secret-key-${inputs.params.FOO}",
+					LocalObjectReference: corev1.LocalObjectReference{Name: "secret-$(inputs.params.FOO)"},
+					Key:                  "secret-key-$(inputs.params.FOO)",
 				},
 			},
 		}},
@@ -103,10 +99,9 @@ var envTaskSpec = &v1alpha1.TaskSpec{
 				LocalObjectReference: corev1.LocalObjectReference{Name: "config-$(inputs.params.FOO)"},
 			},
 		}, {
-			// TODO(#1170): Remove support for ${} syntax
-			Prefix: "prefix-1-${inputs.params.FOO}",
+			Prefix: "prefix-1-$(inputs.params.FOO)",
 			SecretRef: &corev1.SecretEnvSource{
-				LocalObjectReference: corev1.LocalObjectReference{Name: "secret-${inputs.params.FOO}"},
+				LocalObjectReference: corev1.LocalObjectReference{Name: "secret-$(inputs.params.FOO)"},
 			},
 		}},
 	}}},
@@ -737,11 +732,10 @@ func TestVolumeReplacement(t *testing.T) {
 			}},
 		},
 	}, {
-		// TODO(#1170): Remove support for ${} syntax
 		name: "deprecated volume replacement",
 		ts: &v1alpha1.TaskSpec{
 			Volumes: []corev1.Volume{{
-				Name: "${foo}",
+				Name: "$(foo)",
 			}},
 		},
 		repl: map[string]string{"foo": "bar"},
@@ -751,15 +745,14 @@ func TestVolumeReplacement(t *testing.T) {
 			}},
 		},
 	}, {
-		// TODO(#1170): Remove support for ${} syntax
 		name: "deprecated volume configmap",
 		ts: &v1alpha1.TaskSpec{
 			Volumes: []corev1.Volume{{
-				Name: "${name}",
+				Name: "$(name)",
 				VolumeSource: corev1.VolumeSource{
 					ConfigMap: &corev1.ConfigMapVolumeSource{
 						LocalObjectReference: corev1.LocalObjectReference{
-							Name: "${configmapname}",
+							Name: "$(configmapname)",
 						},
 					},
 				}},
@@ -782,14 +775,13 @@ func TestVolumeReplacement(t *testing.T) {
 			},
 		},
 	}, {
-		// TODO(#1170): Remove support for ${} syntax
 		name: "deprecated volume secretname",
 		ts: &v1alpha1.TaskSpec{
 			Volumes: []corev1.Volume{{
-				Name: "${name}",
+				Name: "$(name)",
 				VolumeSource: corev1.VolumeSource{
 					Secret: &corev1.SecretVolumeSource{
-						SecretName: "${secretname}",
+						SecretName: "$(secretname)",
 					},
 				}},
 			},
@@ -809,14 +801,13 @@ func TestVolumeReplacement(t *testing.T) {
 			},
 		},
 	}, {
-		// TODO(#1170): Remove support for ${} syntax
 		name: "deprecated volume PVC name",
 		ts: &v1alpha1.TaskSpec{
 			Volumes: []corev1.Volume{{
-				Name: "${name}",
+				Name: "$(name)",
 				VolumeSource: corev1.VolumeSource{
 					PersistentVolumeClaim: &corev1.PersistentVolumeClaimVolumeSource{
-						ClaimName: "${FOO}",
+						ClaimName: "$(FOO)",
 					},
 				},
 			}},
diff --git a/pkg/reconciler/taskrun/taskrun_test.go b/pkg/reconciler/taskrun/taskrun_test.go
index 8e504fee003..d93a4b070d9 100644
--- a/pkg/reconciler/taskrun/taskrun_test.go
+++ b/pkg/reconciler/taskrun/taskrun_test.go
@@ -122,8 +122,7 @@ var (
 			"--my-arg=$(inputs.params.myarg)",
 			"--my-arg-with-default=$(inputs.params.myarghasdefault)",
 			"--my-arg-with-default2=$(inputs.params.myarghasdefault2)",
-			// TODO(#1170): Remove support for ${} syntax
-			"--my-additional-arg=${outputs.resources.myimage.url}",
+			"--my-additional-arg=$(outputs.resources.myimage.url)",
 		)),
 		tb.Step("myothercontainer", "myotherimage", tb.StepCommand("/mycmd"), tb.StepArgs(
 			"--my-other-arg=$(inputs.resources.workspace.url)",
diff --git a/test/dag_test.go b/test/dag_test.go
index 485cb058e43..cc869989699 100644
--- a/test/dag_test.go
+++ b/test/dag_test.go
@@ -56,7 +56,7 @@ func TestDAGPipelineRun(t *testing.T) {
 		),
 		tb.TaskOutputs(tb.OutputsResource("repo", v1alpha1.PipelineResourceTypeGit)),
 		tb.Step("echo-text", "busybox", tb.StepCommand("echo"), tb.StepArgs("$(inputs.params.text)")),
-		tb.Step("ln", "busybox", tb.StepCommand("ln"), tb.StepArgs("-s", "${inputs.resources.repo.path}", "${outputs.resources.repo.path}")),
+		tb.Step("ln", "busybox", tb.StepCommand("ln"), tb.StepArgs("-s", "$(inputs.resources.repo.path)", "$(outputs.resources.repo.path)")),
 	))
 	if _, err := c.TaskClient.Create(echoTask); err != nil {
 		t.Fatalf("Failed to create echo Task: %s", err)
diff --git a/test/pipelinerun_test.go b/test/pipelinerun_test.go
index 4174a0dab4f..1e0209fdae1 100644
--- a/test/pipelinerun_test.go
+++ b/test/pipelinerun_test.go
@@ -100,8 +100,7 @@ func TestPipelineRun(t *testing.T) {
 				// Reference build: https://github.com/knative/build/tree/master/test/docker-basic
 				tb.Step("config-docker", "quay.io/rhpipeline/skopeo:alpine",
 					tb.StepCommand("skopeo"),
-					// TODO(#1170): This test is using a mix of ${} and $() syntax to make sure both work.
-					tb.StepArgs("copy", "${inputs.params.path}", "$(inputs.params.dest)"),
+					tb.StepArgs("copy", "$(inputs.params.path)", "$(inputs.params.dest)"),
 				),
 			))
 			if _, err := c.TaskClient.Create(task); err != nil {
@@ -234,9 +233,7 @@ func getHelloWorldPipelineWithSingularTask(suffix int, namespace string) *v1alph
 		tb.PipelineParamSpec("path", v1alpha1.ParamTypeString),
 		tb.PipelineParamSpec("dest", v1alpha1.ParamTypeString),
 		tb.PipelineTask(task1Name, getName(taskName, suffix),
-			tb.PipelineTaskParam("path", "${params.path}"),
-			// TODO(#1170): This test is using a mix of ${} and $() syntax to make sure both work.
-			// In the next release we will remove support for $() entirely.
+			tb.PipelineTaskParam("path", "$(params.path)"),
 			tb.PipelineTaskParam("dest", "$(params.dest)")),
 	))
 }
@@ -254,18 +251,14 @@ func getFanInFanOutTasks(namespace string) []*v1alpha1.Task {
 				tb.StepArgs("-c", "echo stuff > $(outputs.resources.workspace.path)/stuff"),
 			),
 			tb.Step("write-data-task-0-step-1", "ubuntu", tb.StepCommand("/bin/bash"),
-				// TODO(#1170): This test is using a mix of ${} and $() syntax to make sure both work.
-				// In the next release we will remove support for $() entirely.
-				tb.StepArgs("-c", "echo other > ${outputs.resources.workspace.path}/other"),
+				tb.StepArgs("-c", "echo other > $(outputs.resources.workspace.path)/other"),
 			),
 		)),
 		tb.Task("check-create-files-exists", namespace, tb.TaskSpec(
 			tb.TaskInputs(inWorkspaceResource),
 			tb.TaskOutputs(outWorkspaceResource),
 			tb.Step("read-from-task-0", "ubuntu", tb.StepCommand("/bin/bash"),
-				// TODO(#1170): This test is using a mix of ${} and $() syntax to make sure both work.
-				// In the next release we will remove support for $() entirely.
-				tb.StepArgs("-c", "[[ stuff == $(cat ${inputs.resources.workspace.path}/stuff) ]]"),
+				tb.StepArgs("-c", "[[ stuff == $(cat $(inputs.resources.workspace.path)/stuff) ]]"),
 			),
 			tb.Step("write-data-task-1", "ubuntu", tb.StepCommand("/bin/bash"),
 				tb.StepArgs("-c", "echo something > $(outputs.resources.workspace.path)/something"),
@@ -289,9 +282,7 @@ func getFanInFanOutTasks(namespace string) []*v1alpha1.Task {
 				tb.StepArgs("-c", "[[ something == $(cat $(inputs.resources.workspace.path)/something) ]]"),
 			),
 			tb.Step("read-from-task-1", "ubuntu", tb.StepCommand("/bin/bash"),
-				// TODO(#1170): This test is using a mix of ${} and $() syntax to make sure both work.
-				// In the next release we will remove support for $() entirely.
-				tb.StepArgs("-c", "[[ else == $(cat ${inputs.resources.workspace.path}/else) ]]"),
+				tb.StepArgs("-c", "[[ else == $(cat $(inputs.resources.workspace.path)/else) ]]"),
 			),
 		)),
 	}