diff --git a/ironic/conf/api.py b/ironic/conf/api.py
index 9dee76183a..bda28d55ab 100644
--- a/ironic/conf/api.py
+++ b/ironic/conf/api.py
@@ -61,7 +61,6 @@ opts = [
                        'in certain states.')),
     cfg.IntOpt('ramdisk_heartbeat_timeout',
                default=300,
-               deprecated_group='agent', deprecated_name='heartbeat_timeout',
                help=_('Maximum interval (in seconds) for agent heartbeats.')),
 ]
 
diff --git a/releasenotes/notes/remove-agent-heartbeat-timeout-abf8787b8477bae7.yaml b/releasenotes/notes/remove-agent-heartbeat-timeout-abf8787b8477bae7.yaml
new file mode 100644
index 0000000000..d5019a1190
--- /dev/null
+++ b/releasenotes/notes/remove-agent-heartbeat-timeout-abf8787b8477bae7.yaml
@@ -0,0 +1,6 @@
+---
+upgrade:
+  - |
+    The configuration option ``[agent]heartbeat_timeout`` was deprecated
+    before ocata release and now removed, please use
+    ``[api]ramdisk_heartbeat_timeout`` instead.