diff --git a/drivers/Ticker.h b/drivers/Ticker.h
index daa5148927..dac0f99ded 100644
--- a/drivers/Ticker.h
+++ b/drivers/Ticker.h
@@ -93,23 +93,6 @@ public:
         attach_us(std::forward<F>(func), t * 1000000.0f);
     }
 
-    /** Attach a member function to be called by the Ticker, specifying the interval in seconds
-     *
-     *  @param obj pointer to the object to call the member function on
-     *  @param method pointer to the member function to be called
-     *  @param t the time between calls in seconds
-     *  @deprecated
-     *      The attach function does not support cv-qualifiers. Replaced by
-     *      attach(callback(obj, method), t).
-     */
-    template<typename T, typename M>
-    MBED_DEPRECATED_SINCE("mbed-os-5.1",
-                          "The attach function does not support cv-qualifiers. Replaced by "
-                          "attach(callback(obj, method), t).")
-    void attach(T *obj, M method, float t)
-    {
-        attach(callback(obj, method), t);
-    }
 
     /** Attach a function to be called by the Ticker, specifying the interval in microseconds
      *
@@ -123,23 +106,6 @@ public:
      */
     void attach_us(Callback<void()> func, us_timestamp_t t);
 
-    /** Attach a member function to be called by the Ticker, specifying the interval in microseconds
-     *
-     *  @param obj pointer to the object to call the member function on
-     *  @param method pointer to the member function to be called
-     *  @param t the time between calls in microseconds
-     *  @deprecated
-     *      The attach_us function does not support cv-qualifiers. Replaced by
-     *      attach_us(callback(obj, method), t).
-     */
-    template<typename T, typename M>
-    MBED_DEPRECATED_SINCE("mbed-os-5.1",
-                          "The attach_us function does not support cv-qualifiers. Replaced by "
-                          "attach_us(callback(obj, method), t).")
-    void attach_us(T *obj, M method, us_timestamp_t t)
-    {
-        attach_us(Callback<void()>(obj, method), t);
-    }
 
     virtual ~Ticker()
     {
diff --git a/features/frameworks/utest/TESTS/unit_tests/case_control_async/main.cpp b/features/frameworks/utest/TESTS/unit_tests/case_control_async/main.cpp
index 683eba4be4..e315e03f82 100644
--- a/features/frameworks/utest/TESTS/unit_tests/case_control_async/main.cpp
+++ b/features/frameworks/utest/TESTS/unit_tests/case_control_async/main.cpp
@@ -118,7 +118,7 @@ control_t await_case(const size_t call_count)
     TEST_ASSERT_EQUAL(1, call_count);
     TEST_ASSERT_EQUAL(6, call_counter++);
     
-    utest_to.attach_us(&validate1, &Utest_func_bind::callback, (1372*1000)); // Fire after 1372 ms 
+    utest_to.attach_us(callback(&validate1, &Utest_func_bind::callback), (1372*1000)); // Fire after 1372 ms
                 
     return CaseAwait;
 }
@@ -146,7 +146,7 @@ control_t repeat_all_on_timeout_case(const size_t call_count)
     TEST_ASSERT(call_count <= 10);
     TEST_ASSERT_EQUAL((call_count-1)*3 + 9, call_counter++);
     if (call_count == 10) {
-        utest_to.attach_us(&validate2, &Utest_func_bind::callback, (50*1000)); // Fire after 50ms
+        utest_to.attach_us(callback(&validate2, &Utest_func_bind::callback), (50*1000)); // Fire after 50ms
     }
     return CaseRepeatAllOnTimeout(100);
 }
@@ -181,7 +181,7 @@ control_t repeat_handler_on_timeout_case(const size_t call_count)
     TEST_ASSERT(call_count <= 10);
     TEST_ASSERT_EQUAL(call_count-1 + 40, call_counter++);
     if (call_count == 10) {
-        utest_to.attach_us(&validate3, &Utest_func_bind::callback, (50*1000)); // Fire after 50ms
+        utest_to.attach_us(callback(&validate3, &Utest_func_bind::callback), (50*1000)); // Fire after 50ms
     }
     return CaseRepeatHandlerOnTimeout(100);
 }