diff --git a/oslo_db/options.py b/oslo_db/options.py
index b20d0b76..bb84e612 100644
--- a/oslo_db/options.py
+++ b/oslo_db/options.py
@@ -51,18 +51,6 @@ database_opts = [
     cfg.IntOpt(
         'connection_recycle_time',
         default=3600,
-        deprecated_opts=[
-            cfg.DeprecatedOpt('idle_timeout',
-                              group="DATABASE"),
-            cfg.DeprecatedOpt('idle_timeout',
-                              group="database"),
-            cfg.DeprecatedOpt('sql_idle_timeout',
-                              group='DEFAULT'),
-            cfg.DeprecatedOpt('sql_idle_timeout',
-                              group='DATABASE'),
-            cfg.DeprecatedOpt('idle_timeout',
-                              group='sql')
-        ],
         help='Connections which have been present in the connection '
              'pool longer than this number of seconds will be replaced '
              'with a new one the next time they are checked out from '
diff --git a/oslo_db/sqlalchemy/enginefacade.py b/oslo_db/sqlalchemy/enginefacade.py
index 6a13c705..7a824864 100644
--- a/oslo_db/sqlalchemy/enginefacade.py
+++ b/oslo_db/sqlalchemy/enginefacade.py
@@ -188,8 +188,6 @@ class _TransactionFactory(object):
         self._legacy_facade = None
         self._start_lock = threading.Lock()
 
-    @debtcollector.renames.renamed_kwarg(
-        "idle_timeout", "connection_recycle_time", replace=True)
     def configure_defaults(self, **kw):
         """Apply default configurational options.
 
@@ -298,8 +296,6 @@ class _TransactionFactory(object):
         """
         self._configure(True, kw)
 
-    @debtcollector.renames.renamed_kwarg(
-        "idle_timeout", "connection_recycle_time", replace=True)
     def configure(self, **kw):
         """Apply configurational options.
 
diff --git a/oslo_db/tests/sqlalchemy/test_options.py b/oslo_db/tests/sqlalchemy/test_options.py
index b9621829..a0cb5d40 100644
--- a/oslo_db/tests/sqlalchemy/test_options.py
+++ b/oslo_db/tests/sqlalchemy/test_options.py
@@ -68,7 +68,6 @@ pool_timeout=7
     def test_dbapi_database_deprecated_parameters(self):
         path = self.create_tempfiles([['tmp', b'[DATABASE]\n'
                                        b'sql_connection=fake_connection\n'
-                                       b'sql_idle_timeout=100\n'
                                        b'sql_max_retries=22\n'
                                        b'reconnect_interval=17\n'
                                        b'sqlalchemy_max_overflow=101\n'
@@ -76,8 +75,6 @@ pool_timeout=7
                                        ]])[0]
         self.conf(['--config-file', path])
         self.assertEqual('fake_connection', self.conf.database.connection)
-        self.assertEqual(100, self.conf.database.connection_recycle_time)
-        self.assertEqual(100, self.conf.database.idle_timeout)
         self.assertEqual(22, self.conf.database.max_retries)
         self.assertEqual(17, self.conf.database.retry_interval)
         self.assertEqual(101, self.conf.database.max_overflow)
@@ -86,12 +83,9 @@ pool_timeout=7
     def test_dbapi_database_deprecated_parameters_sql(self):
         path = self.create_tempfiles([['tmp', b'[sql]\n'
                                        b'connection=test_sql_connection\n'
-                                       b'idle_timeout=99\n'
                                        ]])[0]
         self.conf(['--config-file', path])
         self.assertEqual('test_sql_connection', self.conf.database.connection)
-        self.assertEqual(99, self.conf.database.connection_recycle_time)
-        self.assertEqual(99, self.conf.database.idle_timeout)
 
     def test_deprecated_dbapi_parameters(self):
         path = self.create_tempfiles([['tmp', b'[DEFAULT]\n'
diff --git a/oslo_db/tests/sqlalchemy/test_sqlalchemy.py b/oslo_db/tests/sqlalchemy/test_sqlalchemy.py
index 7b51e360..2dd863ae 100644
--- a/oslo_db/tests/sqlalchemy/test_sqlalchemy.py
+++ b/oslo_db/tests/sqlalchemy/test_sqlalchemy.py
@@ -404,10 +404,6 @@ class EngineFacadeTestCase(oslo_test.BaseTestCase):
         self.assertFalse(ses.autocommit)
         self.assertTrue(ses.expire_on_commit)
 
-    def test_direct_invocation_deprecated_args(self):
-        facade = session.EngineFacade("sqlite://", idle_timeout=59)
-        self.assertEqual(59, facade.get_engine().pool._recycle)
-
     @mock.patch('oslo_db.sqlalchemy.orm.get_maker')
     @mock.patch('oslo_db.sqlalchemy.engines.create_engine')
     def test_creation_from_config(self, create_engine, get_maker):
diff --git a/releasenotes/notes/removed-deprecated-idle-timeout-051a6a9a792bd8de.yaml b/releasenotes/notes/removed-deprecated-idle-timeout-051a6a9a792bd8de.yaml
new file mode 100644
index 00000000..0e7e82bd
--- /dev/null
+++ b/releasenotes/notes/removed-deprecated-idle-timeout-051a6a9a792bd8de.yaml
@@ -0,0 +1,7 @@
+---
+fixes:
+  - |
+    Removed the ``[DATABASE] idle_timeout``, ``[database] idle_timeout``,
+    ``[sql] idle_timeout``, ``[DEFAULT] sql_idle_timeout`` and
+    ``[DATABASE] sql_idle_timeout`` options. These were all legacy
+    aliases for ``[database] connection_recycle_time``.