diff --git a/include/gz/math/Helpers.hh b/include/gz/math/Helpers.hh
index a1b98049d..6cda53455 100644
--- a/include/gz/math/Helpers.hh
+++ b/include/gz/math/Helpers.hh
@@ -466,37 +466,6 @@ namespace gz
       sort2(_a, _b);
     }
 
-    /// \brief Append a number to a stream. Makes sure "-0" is returned as "0".
-    /// \param[out] _out Output stream.
-    /// \param[in] _number Number to append.
-    /// \param[in] _precision Precision for floating point numbers.
-    /// \deprecated Use appendToStream(std::ostream, T) instead.
-    template<typename T>
-    inline void GZ_DEPRECATED(7) appendToStream(
-        std::ostream &_out, T _number, int _precision)
-    {
-      if (std::fpclassify(_number) == FP_ZERO)
-      {
-        _out << 0;
-      }
-      else
-      {
-        _out << precision(_number, _precision);
-      }
-    }
-
-    /// \brief Append a number to a stream, specialized for int.
-    /// \param[out] _out Output stream.
-    /// \param[in] _number Number to append.
-    /// _precision Not used for int.
-    /// \deprecated Use appendToStream(std::ostream, int) instead.
-    template<>
-    inline void GZ_DEPRECATED(7) appendToStream(
-        std::ostream &_out, int _number, int)
-    {
-      _out << _number;
-    }
-
     /// \brief Append a number to a stream. Makes sure "-0" is returned as "0".
     /// \param[out] _out Output stream.
     /// \param[in] _number Number to append.
diff --git a/src/Helpers_TEST.cc b/src/Helpers_TEST.cc
index d8fcd4de4..83cc215b9 100644
--- a/src/Helpers_TEST.cc
+++ b/src/Helpers_TEST.cc
@@ -985,29 +985,6 @@ TEST(HelpersTest, AppendToStream)
 {
   std::ostringstream out;
 
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
-  // Deprecated in gz-math7
-  math::appendToStream(out, 0.12345678, 3);
-  EXPECT_EQ(out.str(), "0.123");
-
-  out << " ";
-
-  math::appendToStream(out, 0.0f, 5);
-  EXPECT_EQ(out.str(), "0.123 0");
-
-  out << " ";
-
-  math::appendToStream(out, 456, 3);
-  EXPECT_EQ(out.str(), "0.123 0 456");
-
-  out << " ";
-
-  math::appendToStream(out, 0, 3);
-  EXPECT_EQ(out.str(), "0.123 0 456 0");
-
-  out.str("");
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-
   math::appendToStream(out, 0.0f);
   EXPECT_EQ(out.str(), "0");