diff --git a/cmd/kubeadm/app/componentconfigs/kubelet.go b/cmd/kubeadm/app/componentconfigs/kubelet.go
index 6920858e2a3..ca2c8c9f950 100644
--- a/cmd/kubeadm/app/componentconfigs/kubelet.go
+++ b/cmd/kubeadm/app/componentconfigs/kubelet.go
@@ -105,6 +105,12 @@ func (kc *kubeletConfig) Default(cfg *kubeadmapi.ClusterConfiguration, _ *kubead
 		kc.config.FeatureGates = map[string]bool{}
 	}
 
+	// TODO: The following code should be removed after dual-stack is GA.
+	// Note: The user still retains the ability to explicitly set feature-gates and that value will overwrite this base value.
+	if enabled, present := cfg.FeatureGates[features.IPv6DualStack]; present {
+		kc.config.FeatureGates[features.IPv6DualStack] = enabled
+	}
+
 	if kc.config.StaticPodPath == "" {
 		kc.config.StaticPodPath = kubeadmapiv1beta2.DefaultManifestsDir
 	} else if kc.config.StaticPodPath != kubeadmapiv1beta2.DefaultManifestsDir {
diff --git a/cmd/kubeadm/app/componentconfigs/kubelet_test.go b/cmd/kubeadm/app/componentconfigs/kubelet_test.go
index a8aab9a14da..85a1ce8428e 100644
--- a/cmd/kubeadm/app/componentconfigs/kubelet_test.go
+++ b/cmd/kubeadm/app/componentconfigs/kubelet_test.go
@@ -229,7 +229,45 @@ func TestKubeletDefault(t *testing.T) {
 			},
 		},
 		{
-			name: "Service subnet, dual stack defaulting works",
+			name: "Service subnet, explicitly disabled dual stack defaulting works",
+			clusterCfg: kubeadmapi.ClusterConfiguration{
+				FeatureGates: map[string]bool{
+					features.IPv6DualStack: false,
+				},
+				Networking: kubeadmapi.Networking{
+					ServiceSubnet: "192.168.0.0/16",
+				},
+			},
+			expected: kubeletConfig{
+				config: kubeletconfig.KubeletConfiguration{
+					FeatureGates: map[string]bool{
+						features.IPv6DualStack: false,
+					},
+					StaticPodPath: kubeadmapiv1beta2.DefaultManifestsDir,
+					ClusterDNS:    []string{"192.168.0.10"},
+					Authentication: kubeletconfig.KubeletAuthentication{
+						X509: kubeletconfig.KubeletX509Authentication{
+							ClientCAFile: constants.CACertName,
+						},
+						Anonymous: kubeletconfig.KubeletAnonymousAuthentication{
+							Enabled: utilpointer.BoolPtr(kubeletAuthenticationAnonymousEnabled),
+						},
+						Webhook: kubeletconfig.KubeletWebhookAuthentication{
+							Enabled: utilpointer.BoolPtr(kubeletAuthenticationWebhookEnabled),
+						},
+					},
+					Authorization: kubeletconfig.KubeletAuthorization{
+						Mode: kubeletconfig.KubeletAuthorizationModeWebhook,
+					},
+					HealthzBindAddress: kubeletHealthzBindAddress,
+					HealthzPort:        utilpointer.Int32Ptr(constants.KubeletHealthzPort),
+					RotateCertificates: kubeletRotateCertificates,
+					ResolverConfig:     resolverConfig,
+				},
+			},
+		},
+		{
+			name: "Service subnet, enabled dual stack defaulting works",
 			clusterCfg: kubeadmapi.ClusterConfiguration{
 				FeatureGates: map[string]bool{
 					features.IPv6DualStack: true,
@@ -240,7 +278,9 @@ func TestKubeletDefault(t *testing.T) {
 			},
 			expected: kubeletConfig{
 				config: kubeletconfig.KubeletConfiguration{
-					FeatureGates:  map[string]bool{},
+					FeatureGates: map[string]bool{
+						features.IPv6DualStack: true,
+					},
 					StaticPodPath: kubeadmapiv1beta2.DefaultManifestsDir,
 					ClusterDNS:    []string{"192.168.0.10"},
 					Authentication: kubeletconfig.KubeletAuthentication{
diff --git a/cmd/kubeadm/app/phases/kubelet/BUILD b/cmd/kubeadm/app/phases/kubelet/BUILD
index eee0e4c9c68..04fb674ca4a 100644
--- a/cmd/kubeadm/app/phases/kubelet/BUILD
+++ b/cmd/kubeadm/app/phases/kubelet/BUILD
@@ -14,7 +14,6 @@ go_library(
         "//cmd/kubeadm/app/apis/kubeadm:go_default_library",
         "//cmd/kubeadm/app/componentconfigs:go_default_library",
         "//cmd/kubeadm/app/constants:go_default_library",
-        "//cmd/kubeadm/app/features:go_default_library",
         "//cmd/kubeadm/app/images:go_default_library",
         "//cmd/kubeadm/app/util:go_default_library",
         "//cmd/kubeadm/app/util/apiclient:go_default_library",
diff --git a/cmd/kubeadm/app/phases/kubelet/flags.go b/cmd/kubeadm/app/phases/kubelet/flags.go
index 2926e7edbf2..04e1b4c4b00 100644
--- a/cmd/kubeadm/app/phases/kubelet/flags.go
+++ b/cmd/kubeadm/app/phases/kubelet/flags.go
@@ -28,14 +28,12 @@ import (
 
 	kubeadmapi "k8s.io/kubernetes/cmd/kubeadm/app/apis/kubeadm"
 	"k8s.io/kubernetes/cmd/kubeadm/app/constants"
-	"k8s.io/kubernetes/cmd/kubeadm/app/features"
 	"k8s.io/kubernetes/cmd/kubeadm/app/images"
 	kubeadmutil "k8s.io/kubernetes/cmd/kubeadm/app/util"
 )
 
 type kubeletFlagsOpts struct {
 	nodeRegOpts              *kubeadmapi.NodeRegistrationOptions
-	featureGates             map[string]bool
 	pauseImage               string
 	registerTaintsUsingFlags bool
 }
@@ -63,7 +61,6 @@ func GetNodeNameAndHostname(cfg *kubeadmapi.NodeRegistrationOptions) (string, st
 func WriteKubeletDynamicEnvFile(cfg *kubeadmapi.ClusterConfiguration, nodeReg *kubeadmapi.NodeRegistrationOptions, registerTaintsUsingFlags bool, kubeletDir string) error {
 	flagOpts := kubeletFlagsOpts{
 		nodeRegOpts:              nodeReg,
-		featureGates:             cfg.FeatureGates,
 		pauseImage:               images.GetPauseImage(cfg),
 		registerTaintsUsingFlags: registerTaintsUsingFlags,
 	}
@@ -109,12 +106,6 @@ func buildKubeletArgMapCommon(opts kubeletFlagsOpts) map[string]string {
 		kubeletFlags["hostname-override"] = nodeName
 	}
 
-	// TODO: The following code should be removed after dual-stack is GA.
-	// Note: The user still retains the ability to explicitly set feature-gates and that value will overwrite this base value.
-	if enabled, present := opts.featureGates[features.IPv6DualStack]; present {
-		kubeletFlags["feature-gates"] = fmt.Sprintf("%s=%t", features.IPv6DualStack, enabled)
-	}
-
 	return kubeletFlags
 }