diff --git a/TESTS/lorawan/loraradio/main.cpp b/TESTS/lorawan/loraradio/main.cpp
index a581d0fe0e..d53b336ad6 100644
--- a/TESTS/lorawan/loraradio/main.cpp
+++ b/TESTS/lorawan/loraradio/main.cpp
@@ -61,7 +61,7 @@ static volatile event_t received_event;
 
 static void tx_done()
 {
-    wait_ms(2);
+    thread_sleep_for(2);
     TEST_ASSERT_EQUAL(EV_NONE, received_event);
     received_event = EV_TX_DONE;
     TEST_ASSERT_EQUAL(osOK, event_sem.release());
@@ -69,7 +69,7 @@ static void tx_done()
 
 static void tx_timeout()
 {
-    wait_ms(2);
+    thread_sleep_for(2);
     TEST_ASSERT_EQUAL(EV_NONE, received_event);
     received_event = EV_TX_TIMEOUT;
     TEST_ASSERT_EQUAL(osOK, event_sem.release());
@@ -77,7 +77,7 @@ static void tx_timeout()
 
 static void rx_done(const uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr)
 {
-    wait_ms(2);
+    thread_sleep_for(2);
     TEST_ASSERT_EQUAL(EV_NONE, received_event);
     received_event = EV_RX_DONE;
     TEST_ASSERT_EQUAL(osOK, event_sem.release());
@@ -85,7 +85,7 @@ static void rx_done(const uint8_t *payload, uint16_t size, int16_t rssi, int8_t
 
 static void rx_timeout()
 {
-    wait_ms(2);
+    thread_sleep_for(2);
     TEST_ASSERT_EQUAL(EV_NONE, received_event);
     received_event = EV_RX_TIMEOUT;
     TEST_ASSERT_EQUAL(osOK, event_sem.release());
@@ -93,7 +93,7 @@ static void rx_timeout()
 
 static void rx_error()
 {
-    wait_ms(2);
+    thread_sleep_for(2);
     TEST_ASSERT_EQUAL(EV_NONE, received_event);
     received_event = EV_RX_ERROR;
     TEST_ASSERT_EQUAL(osOK, event_sem.release());
diff --git a/TESTS/mbed_drivers/reset_reason/main.cpp b/TESTS/mbed_drivers/reset_reason/main.cpp
index 768d85b012..93ddd34cc0 100644
--- a/TESTS/mbed_drivers/reset_reason/main.cpp
+++ b/TESTS/mbed_drivers/reset_reason/main.cpp
@@ -103,7 +103,7 @@ static cmd_status_t handle_command(const char *key, const char *value)
 
     if (strcmp(key, MSG_KEY_DEVICE_RESET) == 0 && strcmp(value, MSG_VALUE_DEVICE_RESET_NVIC) == 0) {
         greentea_send_kv(MSG_KEY_DEVICE_RESET, MSG_VALUE_DEVICE_RESET_ACK);
-        wait_ms(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
+        thread_sleep_for(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
         NVIC_SystemReset();
         TEST_ASSERT_MESSAGE(0, "NVIC_SystemReset did not reset the device as expected.");
         return CMD_STATUS_ERROR;
@@ -112,13 +112,13 @@ static cmd_status_t handle_command(const char *key, const char *value)
 #if DEVICE_WATCHDOG
     if (strcmp(key, MSG_KEY_DEVICE_RESET) == 0 && strcmp(value, MSG_VALUE_DEVICE_RESET_WATCHDOG) == 0) {
         greentea_send_kv(MSG_KEY_DEVICE_RESET, MSG_VALUE_DEVICE_RESET_ACK);
-        wait_ms(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
+        thread_sleep_for(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
         watchdog_config_t config = { .timeout_ms = WDG_TIMEOUT_MS };
         if (hal_watchdog_init(&config) != WATCHDOG_STATUS_OK) {
             TEST_ASSERT_MESSAGE(0, "hal_watchdog_init() error.");
             return CMD_STATUS_ERROR;
         }
-        wait_ms(2 * WDG_TIMEOUT_MS); // Watchdog should fire before twice the timeout value.
+        thread_sleep_for(2 * WDG_TIMEOUT_MS); // Watchdog should fire before twice the timeout value.
         TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
         return CMD_STATUS_ERROR;
     }
diff --git a/TESTS/mbed_drivers/rtc/main.cpp b/TESTS/mbed_drivers/rtc/main.cpp
index 00478a10b7..8aee9831d7 100644
--- a/TESTS/mbed_drivers/rtc/main.cpp
+++ b/TESTS/mbed_drivers/rtc/main.cpp
@@ -451,7 +451,7 @@ void test_functional_count()
     set_time(CUSTOM_TIME_2);
 
     /* Wait 10 sec. */
-    wait_ms(DELAY_10_SEC * MS_PER_SEC);
+    thread_sleep_for(DELAY_10_SEC * MS_PER_SEC);
 
     /* Get time. */
     seconds = time(NULL);
diff --git a/TESTS/mbed_drivers/watchdog/main.cpp b/TESTS/mbed_drivers/watchdog/main.cpp
index 79503b3a4b..2afbd773b9 100644
--- a/TESTS/mbed_drivers/watchdog/main.cpp
+++ b/TESTS/mbed_drivers/watchdog/main.cpp
@@ -94,7 +94,7 @@ void test_stop()
     TEST_ASSERT_TRUE(watchdog.stop());
     TEST_ASSERT_FALSE(watchdog.is_running());
     // Make sure that a disabled watchdog does not reset the core.
-    wait_ms(2 * WDG_TIMEOUT_MS); // Watchdog should fire before twice the timeout value.
+    thread_sleep_for(2 * WDG_TIMEOUT_MS); // Watchdog should fire before twice the timeout value.
 
     TEST_ASSERT_FALSE(watchdog.stop());
 }
@@ -173,7 +173,7 @@ utest::v1::status_t case_teardown_sync_on_reset(const Case *const source, const
     }
     greentea_send_kv(MSG_KEY_DEVICE_RESET, CASE_INDEX_START + CASE_INDEX_CURRENT);
     utest_printf("The device will now restart.\n");
-    wait_ms(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
+    thread_sleep_for(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
     NVIC_SystemReset();
     return status; // Reset is instant so this line won't be reached.
 }
diff --git a/TESTS/mbed_hal/reset_reason/main.cpp b/TESTS/mbed_hal/reset_reason/main.cpp
index 4f51fa007e..65dad5b153 100644
--- a/TESTS/mbed_hal/reset_reason/main.cpp
+++ b/TESTS/mbed_hal/reset_reason/main.cpp
@@ -98,7 +98,7 @@ static cmd_status_t handle_command(const char *key, const char *value)
 
     if (strcmp(key, MSG_KEY_DEVICE_RESET) == 0 && strcmp(value, MSG_VALUE_DEVICE_RESET_NVIC) == 0) {
         greentea_send_kv(MSG_KEY_DEVICE_RESET, MSG_VALUE_DEVICE_RESET_ACK);
-        wait_ms(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
+        thread_sleep_for(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
         NVIC_SystemReset();
         TEST_ASSERT_MESSAGE(0, "NVIC_SystemReset did not reset the device as expected.");
         return CMD_STATUS_ERROR;
@@ -107,13 +107,13 @@ static cmd_status_t handle_command(const char *key, const char *value)
 #if DEVICE_WATCHDOG
     if (strcmp(key, MSG_KEY_DEVICE_RESET) == 0 && strcmp(value, MSG_VALUE_DEVICE_RESET_WATCHDOG) == 0) {
         greentea_send_kv(MSG_KEY_DEVICE_RESET, MSG_VALUE_DEVICE_RESET_ACK);
-        wait_ms(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
+        thread_sleep_for(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
         watchdog_config_t config = { .timeout_ms = WDG_TIMEOUT_MS };
         if (hal_watchdog_init(&config) != WATCHDOG_STATUS_OK) {
             TEST_ASSERT_MESSAGE(0, "hal_watchdog_init() error.");
             return CMD_STATUS_ERROR;
         }
-        wait_ms(2 * WDG_TIMEOUT_MS); // Watchdog should fire before twice the timeout value.
+        thread_sleep_for(2 * WDG_TIMEOUT_MS); // Watchdog should fire before twice the timeout value.
         TEST_ASSERT_MESSAGE(0, "Watchdog did not reset the device as expected.");
         return CMD_STATUS_ERROR;
     }
diff --git a/TESTS/mbed_hal/rtc/main.cpp b/TESTS/mbed_hal/rtc/main.cpp
index 0fb0911dc9..d1773846f0 100644
--- a/TESTS/mbed_hal/rtc/main.cpp
+++ b/TESTS/mbed_hal/rtc/main.cpp
@@ -61,9 +61,9 @@ void rtc_sleep_test_support(bool deepsleep_mode)
      * to allow for hardware serial buffers to completely flush.
      * This should be replaced with a better function that checks if the
      * hardware buffers are empty. However, such an API does not exist now,
-     * so we'll use the wait_ms() function for now.
+     * so we'll use the thread_sleep_for() function for now.
      */
-    wait_ms(10);
+    thread_sleep_for(10);
 
     rtc_init();
 
diff --git a/TESTS/mbed_hal/rtc_time/main.cpp b/TESTS/mbed_hal/rtc_time/main.cpp
index 2510418618..35b2e7b82a 100644
--- a/TESTS/mbed_hal/rtc_time/main.cpp
+++ b/TESTS/mbed_hal/rtc_time/main.cpp
@@ -187,7 +187,7 @@ void test_set_time_twice()
     TEST_ASSERT_EQUAL(true, (current_time == NEW_TIME));
 
     /* Wait 2 seconds */
-    wait_ms(2000);
+    thread_sleep_for(2000);
 
     /* set the time to NEW_TIME again and check it */
     set_time(NEW_TIME);
diff --git a/TESTS/mbed_hal/watchdog/main.cpp b/TESTS/mbed_hal/watchdog/main.cpp
index bec743658d..b0b89457e4 100644
--- a/TESTS/mbed_hal/watchdog/main.cpp
+++ b/TESTS/mbed_hal/watchdog/main.cpp
@@ -100,7 +100,7 @@ void test_stop()
     TEST_ASSERT_EQUAL(WATCHDOG_STATUS_OK, hal_watchdog_init(&WDG_CONFIG_DEFAULT));
     TEST_ASSERT_EQUAL(WATCHDOG_STATUS_OK, hal_watchdog_stop());
     // Make sure that a disabled watchdog does not reset the core.
-    wait_ms(2 * WDG_TIMEOUT_MS); // Watchdog should fire before twice the timeout value.
+    thread_sleep_for(2 * WDG_TIMEOUT_MS); // Watchdog should fire before twice the timeout value.
 
     TEST_ASSERT_EQUAL(WATCHDOG_STATUS_OK, hal_watchdog_stop());
 }
@@ -170,7 +170,7 @@ utest::v1::status_t case_teardown_sync_on_reset(const Case *const source, const
     }
     greentea_send_kv(MSG_KEY_DEVICE_RESET, CASE_INDEX_START + CASE_INDEX_CURRENT);
     utest_printf("The device will now restart.\n");
-    wait_ms(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
+    thread_sleep_for(SERIAL_FLUSH_TIME_MS); // Wait for the serial buffers to flush.
     NVIC_SystemReset();
     return status; // Reset is instant so this line won't be reached.
 }
diff --git a/TESTS/mbed_hal_fpga_ci_test_shield/pwm/main.cpp b/TESTS/mbed_hal_fpga_ci_test_shield/pwm/main.cpp
index fd9bf5c8f1..e5351d5a63 100644
--- a/TESTS/mbed_hal_fpga_ci_test_shield/pwm/main.cpp
+++ b/TESTS/mbed_hal_fpga_ci_test_shield/pwm/main.cpp
@@ -127,11 +127,11 @@ void fpga_pwm_period_fill_test(PinName pin, uint32_t period_ms, uint32_t fill_pr
             break;
     }
 
-    wait(PERIOD_FLOAT(period_ms));
+    thread_sleep_for(period_ms);
 
     tester.io_metrics_start();
 
-    wait(NUM_OF_PERIODS * PERIOD_FLOAT(period_ms));
+    thread_sleep_for(NUM_OF_PERIODS * period_ms);
 
     tester.io_metrics_stop();
     core_util_critical_section_exit();
diff --git a/TESTS/mbedmicro-rtos-mbed/condition_variable/main.cpp b/TESTS/mbedmicro-rtos-mbed/condition_variable/main.cpp
index 4372f46240..998502d257 100644
--- a/TESTS/mbedmicro-rtos-mbed/condition_variable/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/condition_variable/main.cpp
@@ -56,14 +56,14 @@ void test_notify_one()
     t1.start(increment_on_signal);
     t2.start(increment_on_signal);
 
-    wait_ms(TEST_DELAY);
+    ThisThread::sleep_for(TEST_DELAY);
     TEST_ASSERT_EQUAL(0, change_counter);
 
     mutex.lock();
     cond.notify_one();
     mutex.unlock();
 
-    wait_ms(TEST_DELAY);
+    ThisThread::sleep_for(TEST_DELAY);
     TEST_ASSERT_EQUAL(1, change_counter);
 
     mutex.lock();
@@ -83,14 +83,14 @@ void test_notify_all()
     t1.start(increment_on_signal);
     t2.start(increment_on_signal);
 
-    wait_ms(TEST_DELAY);
+    ThisThread::sleep_for(TEST_DELAY);
     TEST_ASSERT_EQUAL(0, change_counter);
 
     mutex.lock();
     cond.notify_all();
     mutex.unlock();
 
-    wait_ms(TEST_DELAY);
+    ThisThread::sleep_for(TEST_DELAY);
     TEST_ASSERT_EQUAL(2, change_counter);
 
     t1.join();
diff --git a/TESTS/mbedmicro-rtos-mbed/mutex/main.cpp b/TESTS/mbedmicro-rtos-mbed/mutex/main.cpp
index f90dd0bdd6..481711b86e 100644
--- a/TESTS/mbedmicro-rtos-mbed/mutex/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/mutex/main.cpp
@@ -155,7 +155,7 @@ void test_dual_thread_nolock(void)
 
     thread.start(callback(F, &mutex));
 
-    wait_ms(TEST_DELAY);
+    ThisThread::sleep_for(TEST_DELAY);
 }
 
 void test_dual_thread_lock_unlock_thread(Mutex *mutex)
@@ -184,7 +184,7 @@ void test_dual_thread_lock_unlock(void)
 
     mutex.unlock();
 
-    wait_ms(TEST_DELAY);
+    ThisThread::sleep_for(TEST_DELAY);
 }
 
 void test_dual_thread_lock_trylock_thread(Mutex *mutex)
@@ -228,7 +228,7 @@ void test_dual_thread_lock(void)
 
     thread.start(callback(F, &mutex));
 
-    wait_ms(TEST_LONG_DELAY);
+    ThisThread::sleep_for(TEST_LONG_DELAY);
 
     mutex.unlock();
 }
diff --git a/TESTS/mbedmicro-rtos-mbed/systimer/main.cpp b/TESTS/mbedmicro-rtos-mbed/systimer/main.cpp
index 69d3def634..f50d580a7a 100644
--- a/TESTS/mbedmicro-rtos-mbed/systimer/main.cpp
+++ b/TESTS/mbedmicro-rtos-mbed/systimer/main.cpp
@@ -303,9 +303,9 @@ void test_deepsleep(void)
 
      * This should be replaced with a better function that checks if the
      * hardware buffers are empty. However, such an API does not exist now,
-     * so we'll use the wait_ms() function for now.
+     * so we'll use the ThisThread::sleep_for() function for now.
      */
-    wait_ms(10);
+    ThisThread::sleep_for(10);
     // Regular Timer might be disabled during deepsleep.
     LowPowerTimer lptimer;
     SysTimerTest<TEST_TICK_US> st;
diff --git a/TESTS/usb_device/basic/main.cpp b/TESTS/usb_device/basic/main.cpp
index 6403f6a8db..8a6727948b 100644
--- a/TESTS/usb_device/basic/main.cpp
+++ b/TESTS/usb_device/basic/main.cpp
@@ -233,7 +233,7 @@ void ep_test_data_correctness()
         // Wait for host before terminating
         greentea_parse_kv(_key, _value, sizeof(_key), sizeof(_value));
 #if EP_DBG
-        wait_ms(100);
+        thread_sleep_for(100);
         printf("cnt_cb_set_conf = %lu\r\n", serial.get_cnt_cb_set_conf());
         printf("cnt_cb_set_intf = %lu\r\n", serial.get_cnt_cb_set_intf());
         printf("cnt_cb_bulk_out = %lu\r\n", serial.get_cnt_cb_bulk_out());
@@ -270,7 +270,7 @@ void ep_test_halt()
         // Wait for host before terminating
         greentea_parse_kv(_key, _value, sizeof(_key), sizeof(_value));
 #if EP_DBG
-        wait_ms(100);
+        thread_sleep_for(100);
         printf("cnt_cb_set_conf = %lu\r\n", serial.get_cnt_cb_set_conf());
         printf("cnt_cb_set_intf = %lu\r\n", serial.get_cnt_cb_set_intf());
         printf("cnt_cb_bulk_out = %lu\r\n", serial.get_cnt_cb_bulk_out());
@@ -307,7 +307,7 @@ void ep_test_parallel_transfers()
         // Wait for host before terminating
         greentea_parse_kv(_key, _value, sizeof(_key), sizeof(_value));
 #if EP_DBG
-        wait_ms(100);
+        thread_sleep_for(100);
         printf("cnt_cb_set_conf = %lu\r\n", serial.get_cnt_cb_set_conf());
         printf("cnt_cb_set_intf = %lu\r\n", serial.get_cnt_cb_set_intf());
         printf("cnt_cb_bulk_out = %lu\r\n", serial.get_cnt_cb_bulk_out());
@@ -345,7 +345,7 @@ void ep_test_parallel_transfers_ctrl()
         // Wait for host before terminating
         greentea_parse_kv(_key, _value, sizeof(_key), sizeof(_value));
 #if EP_DBG
-        wait_ms(100);
+        thread_sleep_for(100);
         printf("cnt_cb_set_conf = %lu\r\n", serial.get_cnt_cb_set_conf());
         printf("cnt_cb_set_intf = %lu\r\n", serial.get_cnt_cb_set_intf());
         printf("cnt_cb_bulk_out = %lu\r\n", serial.get_cnt_cb_bulk_out());
@@ -381,7 +381,7 @@ void ep_test_abort()
         greentea_send_kv("ep_test_abort", serial.get_serial_desc_string());
         greentea_parse_kv(_key, _value, sizeof(_key), sizeof(_value));
 #if EP_DBG
-        wait_ms(100);
+        thread_sleep_for(100);
         printf("cnt_cb_set_conf = %lu\r\n", serial.get_cnt_cb_set_conf());
         printf("cnt_cb_set_intf = %lu\r\n", serial.get_cnt_cb_set_intf());
         printf("cnt_cb_bulk_out = %lu\r\n", serial.get_cnt_cb_bulk_out());
@@ -420,7 +420,7 @@ void ep_test_data_toggle()
         greentea_send_kv("ep_test_data_toggle", serial.get_serial_desc_string());
         greentea_parse_kv(_key, _value, sizeof(_key), sizeof(_value));
 #if EP_DBG
-        wait_ms(100);
+        thread_sleep_for(100);
         printf("cnt_cb_set_conf = %lu\r\n", serial.get_cnt_cb_set_conf());
         printf("cnt_cb_set_intf = %lu\r\n", serial.get_cnt_cb_set_intf());
         printf("cnt_cb_bulk_out = %lu\r\n", serial.get_cnt_cb_bulk_out());
@@ -566,7 +566,7 @@ void device_suspend_resume_test()
         greentea_parse_kv(_key, _value, sizeof(_key), sizeof(_value));
         printf("[2] suspend_count: %d  resume_count: %d\n", serial.get_suspend_count(), serial.get_resume_count());
         TEST_ASSERT_EQUAL_STRING("pass", _key);
-        wait_ms(5000);
+        thread_sleep_for(5000);
         printf("[3] suspend_count: %d  resume_count: %d\n", serial.get_suspend_count(), serial.get_resume_count());
     }
 }
diff --git a/TESTS/usb_device/msd/main.cpp b/TESTS/usb_device/msd/main.cpp
index 88e99cb64e..a59ae25597 100644
--- a/TESTS/usb_device/msd/main.cpp
+++ b/TESTS/usb_device/msd/main.cpp
@@ -440,7 +440,7 @@ void mount_unmount_and_data_test(BlockDevice *bd, FileSystem *fs)
     TEST_ASSERT_EQUAL_STRING("passed", _key);
 
     do {
-        wait_ms(1);
+        thread_sleep_for(1);
     } while (test_files_exist(fs_root));
     TEST_ASSERT_EQUAL(false, test_files_exist(fs_root));
 
diff --git a/TESTS/usb_device/serial/main.cpp b/TESTS/usb_device/serial/main.cpp
index d8fdcdbb70..46b7e0cc84 100644
--- a/TESTS/usb_device/serial/main.cpp
+++ b/TESTS/usb_device/serial/main.cpp
@@ -296,7 +296,7 @@ void test_cdc_usb_reconnect()
     usb_cdc.connect();
     // Wait for the USB enumeration to complete.
     while (!usb_cdc.configured()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_cdc.configured());
     TEST_ASSERT_FALSE(usb_cdc.ready());
@@ -305,7 +305,7 @@ void test_cdc_usb_reconnect()
     // Wait for the host to open the port.
 #if LINUX_HOST_DTR_FIX
     usb_cdc.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_cdc.wait_ready();
     TEST_ASSERT_TRUE(usb_cdc.configured());
@@ -316,12 +316,12 @@ void test_cdc_usb_reconnect()
     TEST_ASSERT_FALSE(usb_cdc.configured());
     TEST_ASSERT_FALSE(usb_cdc.ready());
 
-    wait_ms(USB_RECONNECT_DELAY_MS);
+    thread_sleep_for(USB_RECONNECT_DELAY_MS);
     // Connect the USB device again.
     usb_cdc.connect();
     // Wait for the USB enumeration to complete.
     while (!usb_cdc.configured()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_cdc.configured());
     TEST_ASSERT_FALSE(usb_cdc.ready());
@@ -330,7 +330,7 @@ void test_cdc_usb_reconnect()
     // Wait for the host to open the port again.
 #if LINUX_HOST_DTR_FIX
     usb_cdc.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_cdc.wait_ready();
     TEST_ASSERT_TRUE(usb_cdc.configured());
@@ -355,7 +355,7 @@ void test_cdc_rx_single_bytes()
     greentea_send_kv(MSG_KEY_SEND_BYTES_SINGLE, MSG_VALUE_DUMMY);
 #if LINUX_HOST_DTR_FIX
     usb_cdc.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_cdc.wait_ready();
     uint8_t buff = 0x01;
@@ -369,7 +369,7 @@ void test_cdc_rx_single_bytes()
     }
     // Wait for the host to close its port.
     while (usb_cdc.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     usb_cdc.disconnect();
 }
@@ -380,7 +380,7 @@ void tx_thread_fun(USBCDC *usb_cdc)
     uint8_t buff[TX_BUFF_SIZE] = { 0 };
     while (event_flags.get() & EF_SEND) {
         if (!usb_cdc->send(buff, TX_BUFF_SIZE)) {
-            wait_ms(1);
+            thread_sleep_for(1);
             continue;
         }
         buff_val++;
@@ -402,7 +402,7 @@ void test_cdc_rx_single_bytes_concurrent()
     greentea_send_kv(MSG_KEY_SEND_BYTES_SINGLE, MSG_VALUE_DUMMY);
 #if LINUX_HOST_DTR_FIX
     usb_cdc.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_cdc.wait_ready();
     Thread tx_thread;
@@ -421,7 +421,7 @@ void test_cdc_rx_single_bytes_concurrent()
     tx_thread.join();
     // Wait for the host to close its port.
     while (usb_cdc.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     usb_cdc.disconnect();
 }
@@ -439,7 +439,7 @@ void test_cdc_rx_multiple_bytes()
     greentea_send_kv(MSG_KEY_SEND_BYTES_MULTIPLE, HOST_RX_BUFF_SIZE_RATIO);
 #if LINUX_HOST_DTR_FIX
     usb_cdc.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_cdc.wait_ready();
     uint8_t buff[RX_BUFF_SIZE] = { 0 };
@@ -460,7 +460,7 @@ void test_cdc_rx_multiple_bytes()
     }
     // Wait for the host to close its port.
     while (usb_cdc.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     usb_cdc.disconnect();
 }
@@ -479,7 +479,7 @@ void test_cdc_rx_multiple_bytes_concurrent()
     greentea_send_kv(MSG_KEY_SEND_BYTES_MULTIPLE, HOST_RX_BUFF_SIZE_RATIO);
 #if LINUX_HOST_DTR_FIX
     usb_cdc.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_cdc.wait_ready();
     Thread tx_thread;
@@ -505,7 +505,7 @@ void test_cdc_rx_multiple_bytes_concurrent()
     tx_thread.join();
     // Wait for the host to close its port.
     while (usb_cdc.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     usb_cdc.disconnect();
 }
@@ -524,7 +524,7 @@ void test_cdc_loopback()
     greentea_send_kv(MSG_KEY_LOOPBACK, MSG_VALUE_DUMMY);
 #if LINUX_HOST_DTR_FIX
     usb_cdc.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_cdc.wait_ready();
     uint8_t rx_buff, tx_buff;
@@ -537,7 +537,7 @@ void test_cdc_loopback()
     }
     // Wait for the host to close its port.
     while (usb_cdc.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     usb_cdc.disconnect();
 }
@@ -559,7 +559,7 @@ void test_serial_usb_reconnect()
     usb_serial.connect();
     // Wait for the USB enumeration to complete.
     while (!usb_serial.configured()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_serial.configured());
     TEST_ASSERT_FALSE(usb_serial.connected());
@@ -569,10 +569,10 @@ void test_serial_usb_reconnect()
     // Wait for the host to open the port.
 #if LINUX_HOST_DTR_FIX
     usb_serial.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     while (!usb_serial.connected()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_serial.configured());
     TEST_ASSERT_TRUE(usb_serial.connected());
@@ -584,12 +584,12 @@ void test_serial_usb_reconnect()
     TEST_ASSERT_FALSE(usb_serial.connected());
     TEST_ASSERT_EQUAL_INT(0, usb_serial.readable());
 
-    wait_ms(USB_RECONNECT_DELAY_MS);
+    thread_sleep_for(USB_RECONNECT_DELAY_MS);
     // Connect the USB device again.
     usb_serial.connect();
     // Wait for the USB enumeration to complete.
     while (!usb_serial.configured()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_serial.configured());
     TEST_ASSERT_FALSE(usb_serial.connected());
@@ -599,10 +599,10 @@ void test_serial_usb_reconnect()
     // Wait for the host to open the port again.
 #if LINUX_HOST_DTR_FIX
     usb_serial.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     while (!usb_serial.connected()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_serial.configured());
     TEST_ASSERT_TRUE(usb_serial.connected());
@@ -629,10 +629,10 @@ void test_serial_term_reopen()
     // Wait for the host to open the terminal.
 #if LINUX_HOST_DTR_FIX
     usb_serial.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     while (!usb_serial.connected()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_serial.configured());
     TEST_ASSERT_TRUE(usb_serial.ready());
@@ -641,7 +641,7 @@ void test_serial_term_reopen()
 
     // Wait for the host to close the terminal.
     while (usb_serial.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_serial.configured());
     TEST_ASSERT_FALSE(usb_serial.ready());
@@ -652,10 +652,10 @@ void test_serial_term_reopen()
     // Wait for the host to open the terminal again.
 #if LINUX_HOST_DTR_FIX
     usb_serial.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     while (!usb_serial.connected()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_serial.configured());
     TEST_ASSERT_TRUE(usb_serial.ready());
@@ -664,7 +664,7 @@ void test_serial_term_reopen()
 
     // Wait for the host to close the terminal again.
     while (usb_serial.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     TEST_ASSERT_TRUE(usb_serial.configured());
     TEST_ASSERT_FALSE(usb_serial.ready());
@@ -687,7 +687,7 @@ void test_serial_getc()
     greentea_send_kv(MSG_KEY_SEND_BYTES_SINGLE, MSG_VALUE_DUMMY);
 #if LINUX_HOST_DTR_FIX
     usb_serial.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_serial.wait_ready();
     for (int expected = 0xff; expected >= 0; expected--) {
@@ -698,7 +698,7 @@ void test_serial_getc()
     }
     // Wait for the host to close its port.
     while (usb_serial.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     usb_serial.disconnect();
 }
@@ -719,7 +719,7 @@ void test_serial_printf_scanf()
     greentea_send_kv(MSG_KEY_LOOPBACK, MSG_VALUE_DUMMY);
 #if LINUX_HOST_DTR_FIX
     usb_serial.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_serial.wait_ready();
     static const char fmt[] = "Formatted\nstring %i.";
@@ -735,7 +735,7 @@ void test_serial_printf_scanf()
     }
     // Wait for the host to close its port.
     while (usb_serial.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     usb_serial.disconnect();
 }
@@ -764,7 +764,7 @@ void test_serial_line_coding_change()
     greentea_send_kv(MSG_KEY_CHANGE_LINE_CODING, MSG_VALUE_DUMMY);
 #if LINUX_HOST_DTR_FIX
     usb_serial.wait_ready();
-    wait_ms(LINUX_HOST_DTR_FIX_DELAY_MS);
+    thread_sleep_for(LINUX_HOST_DTR_FIX_DELAY_MS);
 #endif
     usb_serial.wait_ready();
     usb_serial.attach(line_coding_changed_cb);
@@ -805,7 +805,7 @@ void test_serial_line_coding_change()
     }
     // Wait for the host to close its port.
     while (usb_serial.ready()) {
-        wait_ms(1);
+        thread_sleep_for(1);
     }
     usb_serial.disconnect();
 }
diff --git a/UNITTESTS/stubs/mbed_wait_api_stub.cpp b/UNITTESTS/stubs/mbed_wait_api_stub.cpp
index 68a265308c..af0e571cad 100644
--- a/UNITTESTS/stubs/mbed_wait_api_stub.cpp
+++ b/UNITTESTS/stubs/mbed_wait_api_stub.cpp
@@ -17,14 +17,6 @@
 
 #include "mbed_wait_api.h"
 
-void wait(float s)
-{
-}
-
-void wait_ms(int ms)
-{
-}
-
 void wait_us(int us)
 {
 }
diff --git a/UNITTESTS/target_h/platform/mbed_wait_api.h b/UNITTESTS/target_h/platform/mbed_wait_api.h
index c3ba10698c..1659840652 100644
--- a/UNITTESTS/target_h/platform/mbed_wait_api.h
+++ b/UNITTESTS/target_h/platform/mbed_wait_api.h
@@ -22,8 +22,6 @@
 extern "C" {
 #endif
 
-void wait_ms(int ms);
-
 void wait_us(int us);
 
 #ifdef __cplusplus
diff --git a/components/testing/COMPONENT_FPGA_CI_TEST_SHIELD/MbedTester.h b/components/testing/COMPONENT_FPGA_CI_TEST_SHIELD/MbedTester.h
index 16b450755a..62d6c0fd2a 100644
--- a/components/testing/COMPONENT_FPGA_CI_TEST_SHIELD/MbedTester.h
+++ b/components/testing/COMPONENT_FPGA_CI_TEST_SHIELD/MbedTester.h
@@ -59,7 +59,7 @@
  *     int toggle = 0;
  *     while (1) {
  *         tester.gpio_write(MbedTester::LogicalPinGPIO0, toggle, true);
- *         wait(0.5);
+ *         thread_sleep_for(500);
  *         toggle = !toggle;
  *     }
  * }
diff --git a/drivers/CAN.h b/drivers/CAN.h
index ec9963ce8d..dfe75cf65f 100644
--- a/drivers/CAN.h
+++ b/drivers/CAN.h
@@ -154,7 +154,7 @@ public:
      *             printf("Message received: %d\n\n", msg.data[0]);
      *             led2 = !led2;
      *         }
-     *         wait(0.2);
+     *         thread_sleep_for(200);
      *     }
      * }
      *
diff --git a/drivers/DigitalIn.h b/drivers/DigitalIn.h
index a6adf0bc9c..b304594e29 100644
--- a/drivers/DigitalIn.h
+++ b/drivers/DigitalIn.h
@@ -46,7 +46,7 @@ namespace mbed {
  *         if(enable) {
  *             led = !led;
  *         }
- *         wait(0.25);
+ *         thread_sleep_for(250);
  *     }
  * }
  * @endcode
diff --git a/drivers/DigitalOut.h b/drivers/DigitalOut.h
index c7896ac476..d29f227fd7 100644
--- a/drivers/DigitalOut.h
+++ b/drivers/DigitalOut.h
@@ -41,7 +41,7 @@ namespace mbed {
  * int main() {
  *     while(1) {
  *         led = !led;
- *         wait(0.2);
+ *         thread_sleep_for(200);
  *     }
  * }
  * @endcode
diff --git a/drivers/I2C.h b/drivers/I2C.h
index 0d48ba7e2a..82e9616c60 100644
--- a/drivers/I2C.h
+++ b/drivers/I2C.h
@@ -66,7 +66,7 @@ namespace mbed {
  *         // set up configuration register (at 0x01)
  *         i2c.write(addr8bit, cmd, 2);
  *
- *         wait(0.5);
+ *         thread_sleep_for(500);
  *
  *         // read temperature register
  *         cmd[0] = 0x00;
diff --git a/drivers/InterruptIn.h b/drivers/InterruptIn.h
index 71d96324ba..467f079e1f 100644
--- a/drivers/InterruptIn.h
+++ b/drivers/InterruptIn.h
@@ -57,7 +57,7 @@ namespace mbed {
  *     event.rise(&trigger);
  *     while(1) {
  *         led = !led;
- *         wait(0.25);
+ *         thread_sleep_for(250);
  *     }
  * }
  * @endcode
diff --git a/drivers/PortOut.h b/drivers/PortOut.h
index aa5b00722d..3889fb38c9 100644
--- a/drivers/PortOut.h
+++ b/drivers/PortOut.h
@@ -48,9 +48,9 @@ namespace mbed {
  * int main() {
  *     while(1) {
  *         ledport = LED_MASK;
- *         wait(1);
+ *         thread_sleep_for(1000);
  *         ledport = 0;
- *         wait(1);
+ *         thread_sleep_for(1000);
  *     }
  * }
  * @endcode
diff --git a/drivers/PwmOut.h b/drivers/PwmOut.h
index 1bf12f47b4..e8df82b9a8 100644
--- a/drivers/PwmOut.h
+++ b/drivers/PwmOut.h
@@ -43,7 +43,7 @@ namespace mbed {
  * int main() {
  *     while(1) {
  *         led = led + 0.01;
- *         wait(0.2);
+ *         thread_sleep_for(200);
  *         if(led == 1.0) {
  *             led = 0;
  *         }
diff --git a/drivers/Ticker.h b/drivers/Ticker.h
index dac0f99ded..49185b8971 100644
--- a/drivers/Ticker.h
+++ b/drivers/Ticker.h
@@ -61,7 +61,7 @@ namespace mbed {
  *         } else {
  *             led2 = !led2;
  *         }
- *         wait(0.2);
+ *         thread_sleep_for(200);
  *     }
  * }
  * @endcode
diff --git a/drivers/Timeout.h b/drivers/Timeout.h
index bbf71c4c85..0dc4cc7130 100644
--- a/drivers/Timeout.h
+++ b/drivers/Timeout.h
@@ -52,7 +52,7 @@ namespace mbed {
  *     timeout.attach(&attimeout, 5);
  *     while(on) {
  *         led = !led;
- *         wait(0.2);
+ *         thread_sleep_for(200);
  *     }
  * }
  * @endcode
diff --git a/drivers/USBKeyboard.h b/drivers/USBKeyboard.h
index e41d4360a1..d168344fd2 100644
--- a/drivers/USBKeyboard.h
+++ b/drivers/USBKeyboard.h
@@ -93,7 +93,7 @@ enum FUNCTION_KEY {
  * {
  *   while (1) {
  *       key.printf("Hello World\r\n");
- *       wait(1);
+ *       thread_sleep_for(1000);
  *   }
  * }
  *
diff --git a/drivers/USBMIDI.h b/drivers/USBMIDI.h
index e36b63055e..6ead78e82e 100644
--- a/drivers/USBMIDI.h
+++ b/drivers/USBMIDI.h
@@ -49,9 +49,9 @@
 *    while (1) {
 *        for(int i=48; i<83; i++) {     // send some messages!
 *            midi.write(MIDIMessage::NoteOn(i));
-*            wait(0.25);
+*            thread_sleep_for(250);
 *            midi.write(MIDIMessage::NoteOff(i));
-*            wait(0.5);
+*            thread_sleep_for(500);
 *        }
 *    }
 * }
diff --git a/drivers/USBMouse.h b/drivers/USBMouse.h
index d9cd1a6442..66419d2397 100644
--- a/drivers/USBMouse.h
+++ b/drivers/USBMouse.h
@@ -69,7 +69,7 @@ enum MOUSE_TYPE {
  *   while (1)
  *   {
  *      mouse.move(20, 0);
- *      wait(0.5);
+ *      thread_sleep_for(500);
  *   }
  * }
  *
@@ -102,7 +102,7 @@ enum MOUSE_TYPE {
  *
  *       mouse.move(x_screen, y_screen);
  *       angle += 3;
- *       wait(0.01);
+ *       thread_sleep_for(10);
  *   }
  * }
  *
diff --git a/drivers/USBMouseKeyboard.h b/drivers/USBMouseKeyboard.h
index c7a2e34649..76676572e2 100644
--- a/drivers/USBMouseKeyboard.h
+++ b/drivers/USBMouseKeyboard.h
@@ -49,7 +49,7 @@
  *   {
  *       key_mouse.move(20, 0);
  *       key_mouse.printf("Hello From MBED\r\n");
- *       wait(1);
+ *       thread_sleep_for(1000);
  *   }
  * }
  * @endcode
@@ -68,7 +68,7 @@
  *   {
  *       key_mouse.move(X_MAX_ABS/2, Y_MAX_ABS/2);
  *       key_mouse.printf("Hello from MBED\r\n");
- *       wait(1);
+ *       thread_sleep_for(1000);
  *   }
  * }
  * @endcode
diff --git a/drivers/USBSerial.h b/drivers/USBSerial.h
index 9f15849489..1861650063 100644
--- a/drivers/USBSerial.h
+++ b/drivers/USBSerial.h
@@ -43,7 +43,7 @@
 *    while(1)
 *    {
 *        serial.printf("I am a virtual serial port\n");
-*        wait(1);
+*        thread_sleep_for(1000);
 *    }
 * }
 * @endcode
diff --git a/features/FEATURE_BLE/targets/TARGET_CORDIO_ODIN_W2/HCIDriver.cpp b/features/FEATURE_BLE/targets/TARGET_CORDIO_ODIN_W2/HCIDriver.cpp
index 5e94c19481..572670a4d8 100644
--- a/features/FEATURE_BLE/targets/TARGET_CORDIO_ODIN_W2/HCIDriver.cpp
+++ b/features/FEATURE_BLE/targets/TARGET_CORDIO_ODIN_W2/HCIDriver.cpp
@@ -150,9 +150,9 @@ void ble::vendor::odin_w2::HCIDriver::do_initialize()
     hci_rts = 1;            // Flow Control is OFF
 
     shutdown = 0;           // BT Power is OFF
-    wait_ms(20);
+    thread_sleep_for(20);
     shutdown = 1;           // BT Power is ON
-    wait_ms(500);
+    thread_sleep_for(500);
 
     hci_rts = 0;            // Flow Control is ON
 
diff --git a/features/FEATURE_BLE/targets/TARGET_STM/TARGET_CYW4343X/HCIDriver.cpp b/features/FEATURE_BLE/targets/TARGET_STM/TARGET_CYW4343X/HCIDriver.cpp
index fca3af9be8..650e587495 100644
--- a/features/FEATURE_BLE/targets/TARGET_STM/TARGET_CYW4343X/HCIDriver.cpp
+++ b/features/FEATURE_BLE/targets/TARGET_STM/TARGET_CYW4343X/HCIDriver.cpp
@@ -96,13 +96,13 @@ public:
         output_mode(bt_device_wake_name, 0);
         output_mode(bt_power_name, 1);
 
-        wait_ms(500);
+        thread_sleep_for(500);
 
         bt_device_wake = 0;
-        wait_ms(500);
+        thread_sleep_for(500);
 
         bt_power = 1;
-        wait_ms(500);
+        thread_sleep_for(500);
     }
 
     virtual void do_terminate() { }
@@ -312,7 +312,7 @@ private:
         service_pack_next = NULL;
         service_pack_index = 0;
         service_pack_transfered = true;
-        wait_ms(1000);
+        thread_sleep_for(1000);
         set_sleep_mode();
     }
 
diff --git a/platform/mbed_rtc_time.h b/platform/mbed_rtc_time.h
index c3e82b93fe..e7c5e672b4 100644
--- a/platform/mbed_rtc_time.h
+++ b/platform/mbed_rtc_time.h
@@ -64,7 +64,7 @@ struct timeval {
  *         strftime(buffer, 32, "%I:%M %p\n", localtime(&seconds));
  *         printf("Time as a custom formatted string = %s", buffer);
  *
- *         wait(1);
+ *         thread_sleep_for(1000);
  *     }
  * }
  * @endcode
diff --git a/platform/mbed_wait_api.h b/platform/mbed_wait_api.h
index d86a5d4813..a6f85be326 100644
--- a/platform/mbed_wait_api.h
+++ b/platform/mbed_wait_api.h
@@ -41,59 +41,26 @@ extern "C" {
  * @code
  * #include "mbed.h"
  *
- * DigitalOut heartbeat(LED1);
+ * // Blinking rate in milliseconds
+ * #define BLINKING_RATE_MS   500
+ * DigitalOut  led(LED2);
+ * InterruptIn button(SW2);
+ *
+ * void blink_led() {
+ *     led = 1;
+ *     wait_us(BLINKING_RATE_MS * 1000);
+ *     led = 0;
+ * }
  *
  * int main() {
- *     while (1) {
- *         heartbeat = 1;
- *         wait(0.5);
- *         heartbeat = 0;
- *         wait(0.5);
+ *     button.fall(&blink_led);
+ *     while(1) {
+ *         // Do nothing
  *     }
  * }
  * @endcode
  */
 
-/** Waits for a number of seconds, with microsecond resolution (within
- *  the accuracy of single precision floating point).
- *
- *  @param s number of seconds to wait
- *
- *  @note
- *    If the RTOS is present, this function spins to get the exact number of microseconds for
- *    microsecond precision up to 10 milliseconds. If delay is larger than 10 milliseconds and not in ISR, it is the same as
- *    `wait_ms`. We recommend `wait_us` and `wait_ms` over `wait`.
- *
- *  @deprecated
- *    'wait' is deprecated in favor of explicit sleep functions. To sleep, 'wait' should be replaced by
- *    'ThisThread::sleep_for' (C++) or 'thread_sleep_for' (C). If you wish to wait (without sleeping), call
- *    'wait_us'. 'wait_us' is safe to call from ISR context.
- */
-MBED_DEPRECATED_SINCE("mbed-os-5.14",
-                      "'wait' is deprecated in favor of explicit sleep functions. To sleep, 'wait' should be replaced by "
-                      "'ThisThread::sleep_for' (C++) or 'thread_sleep_for' (C). If you wish to wait (without sleeping), call "
-                      "'wait_us'. 'wait_us' is safe to call from ISR context.")
-void wait(float s);
-
-/** Waits a number of milliseconds.
- *
- *  @param ms the whole number of milliseconds to wait
- *
- *  @note
- *    If the RTOS is present, it calls ThisThread::sleep_for(), which is same as CMSIS osDelay().
- *    You can't call this from interrupts, and it doesn't lock hardware sleep.
- *
- *  @deprecated
- *    'wait_ms' is deprecated in favor of explicit sleep functions. To sleep, 'wait_ms' should be replaced by
- *    'ThisThread::sleep_for' (C++) or 'thread_sleep_for' (C). If you wish to wait (without sleeping), call
- *    'wait_us'. 'wait_us' is safe to call from ISR context.
- */
-MBED_DEPRECATED_SINCE("mbed-os-5.14",
-                      "'wait_ms' is deprecated in favor of explicit sleep functions. To sleep, 'wait_ms' should be replaced by "
-                      "'ThisThread::sleep_for' (C++) or 'thread_sleep_for' (C). If you wish to wait (without sleeping), call "
-                      "'wait_us'. 'wait_us' is safe to call from ISR context.")
-void wait_ms(int ms);
-
 /** Waits a number of microseconds.
  *
  *  @param us the whole number of microseconds to wait
diff --git a/platform/source/mbed_wait_api_no_rtos.c b/platform/source/mbed_wait_api_no_rtos.c
index 5a53f998f9..ccac08db57 100644
--- a/platform/source/mbed_wait_api_no_rtos.c
+++ b/platform/source/mbed_wait_api_no_rtos.c
@@ -23,28 +23,6 @@
 #include "hal/us_ticker_api.h"
 #include "hal/ticker_api.h"
 
-// This implementation of the wait functions will be compiled only
-// if the RTOS is not present.
-#ifndef MBED_CONF_RTOS_PRESENT
-
-void wait(float s)
-{
-    wait_ms(s * 1000.0f);
-}
-
-void wait_ms(int ms)
-{
-#if DEVICE_LPTICKER
-    const ticker_data_t *const ticker = get_lp_ticker_data();
-    uint32_t start = ticker_read(ticker);
-    while ((ticker_read(ticker) - start) < (uint32_t)(ms * 1000));
-#else
-    wait_us(ms * 1000);
-#endif
-}
-
-#endif // #ifndef MBED_CONF_RTOS_PRESENT
-
 // This wait_us is used by both RTOS and non-RTOS builds
 /*  The actual time delay may be 1 less usec */
 
diff --git a/platform/source/mbed_wait_api_rtos.cpp b/platform/source/mbed_wait_api_rtos.cpp
deleted file mode 100644
index 163054753b..0000000000
--- a/platform/source/mbed_wait_api_rtos.cpp
+++ /dev/null
@@ -1,68 +0,0 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2019 ARM Limited
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-// This implementation of the wait functions will be compiled only
-// if the RTOS is present. Note that we still use these old
-// bare metal versions of wait and wait_ms rather than using
-// thread_sleep_for for backwards compatibility. People should
-// be prompted to shift via their deprecation.
-#ifdef MBED_CONF_RTOS_PRESENT
-
-#include "platform/mbed_wait_api.h"
-#include "hal/us_ticker_api.h"
-#include "rtos/ThisThread.h"
-#include "platform/mbed_critical.h"
-#include "platform/mbed_power_mgmt.h"
-#include "platform/mbed_error.h"
-
-void wait(float s)
-{
-    if ((s >= 0.01f)  && core_util_are_interrupts_enabled()) {
-        rtos::ThisThread::sleep_for(s * 1000.0f);
-        return;
-    }
-
-    uint32_t us = (s * 1000000.0f);
-    const ticker_data_t *const ticker = get_us_ticker_data();
-    uint32_t start = ticker_read(ticker);
-    if ((us >= 1000) && core_util_are_interrupts_enabled()) {
-        // Use the RTOS to wait for millisecond delays if possible
-        sleep_manager_lock_deep_sleep();
-        rtos::ThisThread::sleep_for((uint32_t)us / 1000);
-        sleep_manager_unlock_deep_sleep();
-    }
-    // Use busy waiting for sub-millisecond delays, or for the whole
-    // interval if interrupts are not enabled
-    while ((ticker_read(ticker) - start) < (uint32_t)us);
-}
-
-/*  The actual time delay may be up to one timer tick less - 1 msec */
-void wait_ms(int ms)
-{
-    if (core_util_is_isr_active() || !core_util_are_interrupts_enabled()) {
-#if defined(MBED_TRAP_ERRORS_ENABLED) && MBED_TRAP_ERRORS_ENABLED
-        MBED_ERROR(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_INVALID_OPERATION),
-                   "Deprecated behavior: milli-sec delay should not be used in interrupt.\n");
-#else
-        wait_us(ms * 1000);
-#endif
-    } else {
-        rtos::ThisThread::sleep_for(ms);
-    }
-}
-
-#endif // #if MBED_CONF_RTOS_PRESENT
diff --git a/rtos/ConditionVariable.h b/rtos/ConditionVariable.h
index 9f433f5a69..d3bcaf4ae2 100644
--- a/rtos/ConditionVariable.h
+++ b/rtos/ConditionVariable.h
@@ -140,7 +140,7 @@ struct Waiter;
  *     // Mutex must be unlocked before the worker thread can acquire it.
  *     mutex.unlock();
  *
- *     wait(1.0);
+ *     thread_sleep_for(1000);
  *   }
  *
  *   // Change done and notify waiters of this.
diff --git a/rtos/Thread.h b/rtos/Thread.h
index 10aa6176f6..62b2214516 100644
--- a/rtos/Thread.h
+++ b/rtos/Thread.h
@@ -59,14 +59,14 @@ namespace rtos {
  *  void blink(DigitalOut *led) {
  *      while (running) {
  *          *led = !*led;
- *          wait(1);
+ *          ThisThread::sleep_for(1000);
  *      }
  *  }
  *
  *  // Spawns a thread to run blink for 5 seconds
  *  int main() {
  *      thread.start(callback(blink, &led1));
- *      wait(5);
+ *      ThisThread::sleep_for(5000);
  *      running = false;
  *      thread.join();
  *  }