diff --git a/cmd/kubeadm/app/constants/constants.go b/cmd/kubeadm/app/constants/constants.go
index 049231d82c4..b4ee1f6528a 100644
--- a/cmd/kubeadm/app/constants/constants.go
+++ b/cmd/kubeadm/app/constants/constants.go
@@ -254,10 +254,6 @@ const (
 	// CertificateKeySize specifies the size of the key used to encrypt certificates on uploadcerts phase
 	CertificateKeySize = 32
 
-	// LabelNodeRoleOldControlPlane specifies that a node hosts control-plane components
-	// DEPRECATED: https://github.com/kubernetes/kubeadm/issues/2200
-	LabelNodeRoleOldControlPlane = "node-role.kubernetes.io/master"
-
 	// LabelNodeRoleControlPlane specifies that a node hosts control-plane components
 	LabelNodeRoleControlPlane = "node-role.kubernetes.io/control-plane"
 
@@ -439,20 +435,6 @@ const (
 )
 
 var (
-	// OldControlPlaneTaint is the taint to apply on the PodSpec for being able to run that Pod on the control-plane
-	// DEPRECATED: https://github.com/kubernetes/kubeadm/issues/2200
-	OldControlPlaneTaint = v1.Taint{
-		Key:    LabelNodeRoleOldControlPlane,
-		Effect: v1.TaintEffectNoSchedule,
-	}
-
-	// OldControlPlaneToleration is the toleration to apply on the PodSpec for being able to run that Pod on the control-plane
-	// DEPRECATED: https://github.com/kubernetes/kubeadm/issues/2200
-	OldControlPlaneToleration = v1.Toleration{
-		Key:    LabelNodeRoleOldControlPlane,
-		Effect: v1.TaintEffectNoSchedule,
-	}
-
 	// ControlPlaneTaint is the taint to apply on the PodSpec for being able to run that Pod on the control-plane
 	ControlPlaneTaint = v1.Taint{
 		Key:    LabelNodeRoleControlPlane,
diff --git a/cmd/kubeadm/app/phases/addons/dns/dns.go b/cmd/kubeadm/app/phases/addons/dns/dns.go
index 98d4c313ff8..cff0c6e9702 100644
--- a/cmd/kubeadm/app/phases/addons/dns/dns.go
+++ b/cmd/kubeadm/app/phases/addons/dns/dns.go
@@ -105,15 +105,13 @@ func EnsureDNSAddon(cfg *kubeadmapi.ClusterConfiguration, client clientset.Inter
 func coreDNSAddon(cfg *kubeadmapi.ClusterConfiguration, client clientset.Interface, replicas *int32, out io.Writer, printManifest bool) error {
 	// Get the YAML manifest
 	coreDNSDeploymentBytes, err := kubeadmutil.ParseTemplate(CoreDNSDeployment, struct {
-		DeploymentName, Image, OldControlPlaneTaintKey, ControlPlaneTaintKey string
-		Replicas                                                             *int32
+		DeploymentName, Image, ControlPlaneTaintKey string
+		Replicas                                    *int32
 	}{
-		DeploymentName: kubeadmconstants.CoreDNSDeploymentName,
-		Image:          images.GetDNSImage(cfg),
-		// TODO: https://github.com/kubernetes/kubeadm/issues/2200
-		OldControlPlaneTaintKey: kubeadmconstants.LabelNodeRoleOldControlPlane,
-		ControlPlaneTaintKey:    kubeadmconstants.LabelNodeRoleControlPlane,
-		Replicas:                replicas,
+		DeploymentName:       kubeadmconstants.CoreDNSDeploymentName,
+		Image:                images.GetDNSImage(cfg),
+		ControlPlaneTaintKey: kubeadmconstants.LabelNodeRoleControlPlane,
+		Replicas:             replicas,
 	})
 	if err != nil {
 		return errors.Wrap(err, "error when parsing CoreDNS deployment template")
diff --git a/cmd/kubeadm/app/phases/addons/dns/dns_test.go b/cmd/kubeadm/app/phases/addons/dns/dns_test.go
index f99faa6501f..6325942030d 100644
--- a/cmd/kubeadm/app/phases/addons/dns/dns_test.go
+++ b/cmd/kubeadm/app/phases/addons/dns/dns_test.go
@@ -43,14 +43,13 @@ func TestCompileManifests(t *testing.T) {
 			name:     "CoreDNSDeployment manifest",
 			manifest: CoreDNSDeployment,
 			data: struct {
-				DeploymentName, Image, OldControlPlaneTaintKey, ControlPlaneTaintKey string
-				Replicas                                                             *int32
+				DeploymentName, Image, ControlPlaneTaintKey string
+				Replicas                                    *int32
 			}{
-				DeploymentName:          "foo",
-				Image:                   "foo",
-				OldControlPlaneTaintKey: "foo",
-				ControlPlaneTaintKey:    "foo",
-				Replicas:                &replicas,
+				DeploymentName:       "foo",
+				Image:                "foo",
+				ControlPlaneTaintKey: "foo",
+				Replicas:             &replicas,
 			},
 		},
 		{
@@ -127,15 +126,14 @@ func TestDeploymentsHaveSystemClusterCriticalPriorityClassName(t *testing.T) {
 			name:     "CoreDNSDeployment",
 			manifest: CoreDNSDeployment,
 			data: struct {
-				DeploymentName, Image, OldControlPlaneTaintKey, ControlPlaneTaintKey, CoreDNSConfigMapName string
-				Replicas                                                                                   *int32
+				DeploymentName, Image, ControlPlaneTaintKey, CoreDNSConfigMapName string
+				Replicas                                                          *int32
 			}{
-				DeploymentName:          "foo",
-				Image:                   "foo",
-				OldControlPlaneTaintKey: "foo",
-				ControlPlaneTaintKey:    "foo",
-				CoreDNSConfigMapName:    "foo",
-				Replicas:                &replicas,
+				DeploymentName:       "foo",
+				Image:                "foo",
+				ControlPlaneTaintKey: "foo",
+				CoreDNSConfigMapName: "foo",
+				Replicas:             &replicas,
 			},
 		},
 	}
diff --git a/cmd/kubeadm/app/phases/addons/dns/manifests.go b/cmd/kubeadm/app/phases/addons/dns/manifests.go
index bb5455a15ff..0e3c6c98c29 100644
--- a/cmd/kubeadm/app/phases/addons/dns/manifests.go
+++ b/cmd/kubeadm/app/phases/addons/dns/manifests.go
@@ -92,8 +92,6 @@ spec:
       tolerations:
       - key: CriticalAddonsOnly
         operator: Exists
-      - key: {{ .OldControlPlaneTaintKey }}
-        effect: NoSchedule
       - key: {{ .ControlPlaneTaintKey }}
         effect: NoSchedule
       nodeSelector:
diff --git a/cmd/kubeadm/app/phases/markcontrolplane/markcontrolplane_test.go b/cmd/kubeadm/app/phases/markcontrolplane/markcontrolplane_test.go
index 4cbb1226802..66568da66df 100644
--- a/cmd/kubeadm/app/phases/markcontrolplane/markcontrolplane_test.go
+++ b/cmd/kubeadm/app/phases/markcontrolplane/markcontrolplane_test.go
@@ -89,7 +89,6 @@ func TestMarkControlPlane(t *testing.T) {
 		{
 			name: "has taint and should merge with wanted taint",
 			existingLabels: []string{
-				kubeadmconstants.LabelNodeRoleOldControlPlane,
 				kubeadmconstants.LabelNodeRoleControlPlane,
 				kubeadmconstants.LabelExcludeFromExternalLB,
 			},
diff --git a/cmd/kubeadm/app/phases/upgrade/health.go b/cmd/kubeadm/app/phases/upgrade/health.go
index f045991a244..a0547ffb754 100644
--- a/cmd/kubeadm/app/phases/upgrade/health.go
+++ b/cmd/kubeadm/app/phases/upgrade/health.go
@@ -124,10 +124,6 @@ func createJob(client clientset.Interface, cfg *kubeadmapi.ClusterConfiguration)
 						RunAsNonRoot: pointer.Bool(true),
 					},
 					Tolerations: []v1.Toleration{
-						{
-							Key:    constants.LabelNodeRoleOldControlPlane,
-							Effect: v1.TaintEffectNoSchedule,
-						},
 						{
 							Key:    constants.LabelNodeRoleControlPlane,
 							Effect: v1.TaintEffectNoSchedule,