diff --git a/UNITTESTS/stubs/Mutex_stub.cpp b/UNITTESTS/stubs/Mutex_stub.cpp
index 153e8e5e19..d90ae20002 100644
--- a/UNITTESTS/stubs/Mutex_stub.cpp
+++ b/UNITTESTS/stubs/Mutex_stub.cpp
@@ -27,7 +27,7 @@ rtos::Mutex::~Mutex()
     return;
 }
 
-osStatus rtos::Mutex::lock(uint32_t millisec)
+osStatus rtos::Mutex::lock()
 {
     return osOK;
 }
diff --git a/UNITTESTS/target_h/rtos/Mutex.h b/UNITTESTS/target_h/rtos/Mutex.h
index 5a14ed47b4..f98a692c43 100644
--- a/UNITTESTS/target_h/rtos/Mutex.h
+++ b/UNITTESTS/target_h/rtos/Mutex.h
@@ -29,7 +29,7 @@ public:
 
     Mutex(const char *name);
 
-    osStatus lock(uint32_t millisec = osWaitForever);
+    osStatus lock();
 
     bool trylock();
 
diff --git a/rtos/Mutex.h b/rtos/Mutex.h
index 74ae3c8506..a036eb1e24 100644
--- a/rtos/Mutex.h
+++ b/rtos/Mutex.h
@@ -97,24 +97,6 @@ public:
     void lock(); // Value return backwards compatibility not required for non-RTOS
 #endif
 
-    /**
-      Wait until a Mutex becomes available.
-
-      @deprecated Do not use this function. This function has been replaced with lock(), trylock() and trylock_for() functions.
-
-      @param   millisec  timeout value.
-      @return  status code that indicates the execution status of the function:
-               @a osOK the mutex has been obtained.
-               @a osErrorTimeout the mutex could not be obtained in the given time.
-               @a osErrorResource the mutex could not be obtained when no timeout was specified.
-
-      @note You cannot call this function from ISR context.
-      @note This function treats RTOS errors as fatal system errors, so it can only return osOK or
-            osErrorResource in case when millisec is 0 or osErrorTimeout if millisec is not osWaitForever.
-     */
-    MBED_DEPRECATED_SINCE("mbed-os-5.10.0", "Replaced with lock(), trylock() and trylock_for() functions")
-    osStatus lock(uint32_t millisec);
-
     /** Try to lock the mutex, and return immediately
       @return true if the mutex was acquired, false otherwise.
       @note equivalent to trylock_for(0)
diff --git a/rtos/source/Mutex.cpp b/rtos/source/Mutex.cpp
index 4b2e0451f3..22bb29b78f 100644
--- a/rtos/source/Mutex.cpp
+++ b/rtos/source/Mutex.cpp
@@ -71,24 +71,6 @@ osStatus Mutex::lock(void)
     return osOK;
 }
 
-osStatus Mutex::lock(uint32_t millisec)
-{
-    osStatus status = osMutexAcquire(_id, millisec);
-    if (osOK == status) {
-        _count++;
-    }
-
-    bool success = (status == osOK ||
-                    (status == osErrorResource && millisec == 0) ||
-                    (status == osErrorTimeout && millisec != osWaitForever));
-
-    if (!success && !mbed_get_error_in_progress()) {
-        MBED_ERROR1(MBED_MAKE_ERROR(MBED_MODULE_KERNEL, MBED_ERROR_CODE_MUTEX_LOCK_FAILED), "Mutex lock failed", status);
-    }
-
-    return status;
-}
-
 bool Mutex::trylock()
 {
     return trylock_for(0);