diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
index 4ab7d33d..838b2327 100644
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -8,6 +8,11 @@ All dates in this document are approximate.
 
 ## Changes
 
+20250811: Support for the `max_accel_to_decel` parameter in the
+`[printer]` config section has been removed and support for the
+`ACCEL_TO_DECEL` parameter in the `SET_VELOCITY_LIMIT` command has
+been removed. These capabilities were deprecated on 20240313.
+
 20250721: The `[pca9632]` and `[mcp4018]` modules no longer accept the
 `scl_pin` and `sda_pin` options. Use `i2c_software_scl_pin` and
 `i2c_software_sda_pin` instead.
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index a9b6db6c..83de9609 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -126,8 +126,6 @@ max_accel:
 #   decelerate to zero at each corner. The value specified here may be
 #   changed at runtime using the SET_VELOCITY_LIMIT command. The
 #   default is 5mm/s.
-#max_accel_to_decel:
-#   This parameter is deprecated and should no longer be used.
 ```
 
 ### [stepper]
@@ -740,7 +738,6 @@ max_velocity:
 max_accel:
 #minimum_cruise_ratio:
 #square_corner_velocity:
-#max_accel_to_decel:
 #max_z_velocity:
 #max_z_accel:
 
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index f835977c..f45fe839 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -219,17 +219,8 @@ class ToolHead:
         # Velocity and acceleration control
         self.max_velocity = config.getfloat('max_velocity', above=0.)
         self.max_accel = config.getfloat('max_accel', above=0.)
-        min_cruise_ratio = 0.5
-        if config.getfloat('minimum_cruise_ratio', None) is None:
-            req_accel_to_decel = config.getfloat('max_accel_to_decel', None,
-                                                 above=0.)
-            if req_accel_to_decel is not None:
-                config.deprecate('max_accel_to_decel')
-                min_cruise_ratio = 1. - min(1., (req_accel_to_decel
-                                                 / self.max_accel))
         self.min_cruise_ratio = config.getfloat('minimum_cruise_ratio',
-                                                min_cruise_ratio,
-                                                below=1., minval=0.)
+                                                0.5, below=1., minval=0.)
         self.square_corner_velocity = config.getfloat(
             'square_corner_velocity', 5., minval=0.)
         self.junction_deviation = self.max_accel_to_decel = 0.
@@ -686,14 +677,6 @@ class ToolHead:
             'SQUARE_CORNER_VELOCITY', None, minval=0.)
         min_cruise_ratio = gcmd.get_float(
             'MINIMUM_CRUISE_RATIO', None, minval=0., below=1.)
-        if min_cruise_ratio is None:
-            req_accel_to_decel = gcmd.get_float('ACCEL_TO_DECEL',
-                                                None, above=0.)
-            if req_accel_to_decel is not None and max_accel is not None:
-                min_cruise_ratio = 1. - min(1., req_accel_to_decel / max_accel)
-            elif req_accel_to_decel is not None and max_accel is None:
-                min_cruise_ratio = 1. - min(1., (req_accel_to_decel
-                                                 / self.max_accel))
         if max_velocity is not None:
             self.max_velocity = max_velocity
         if max_accel is not None:
diff --git a/test/klippy/commands.test b/test/klippy/commands.test
index 33c59961..cb3b17d9 100644
--- a/test/klippy/commands.test
+++ b/test/klippy/commands.test
@@ -36,7 +36,7 @@ SET_GCODE_OFFSET Z=.1
 M206 Z-.2
 SET_GCODE_OFFSET Z_ADJUST=-.1
 
-SET_VELOCITY_LIMIT ACCEL=100 VELOCITY=20 SQUARE_CORNER_VELOCITY=1 ACCEL_TO_DECEL=200
+SET_VELOCITY_LIMIT ACCEL=100 VELOCITY=20 SQUARE_CORNER_VELOCITY=1 MINIMUM_CRUISE_RATIO=0
 M204 S500
 
 SET_PRESSURE_ADVANCE EXTRUDER=extruder ADVANCE=.001