diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
index 46a7a2c63e..eb177ab7ae 100644
--- a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
+++ b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -148,12 +148,6 @@ class DiffDriveController : public controller_interface::ChainableControllerInte
 
   rclcpp::Time previous_update_timestamp_{0};
 
-  // publish rate limiter
-  // TODO(bhavin-umatiya): Remove these two member variables
-  double publish_rate_ = 50.0;
-  rclcpp::Duration publish_period_ = rclcpp::Duration::from_seconds(0.0);
-  rclcpp::Time previous_publish_timestamp_{0};
-
   rclcpp::Service<control_msgs::srv::SetOdometry>::SharedPtr set_odom_service_;
   std::atomic<bool> set_odom_requested_{false};
   realtime_tools::RealtimeThreadSafeBox<control_msgs::srv::SetOdometry::Request>
diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index 45e9db2409..24dadce198 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -271,54 +271,31 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
     tf2::Quaternion orientation;
     orientation.setRPY(0.0, 0.0, odometry_.getHeading());
 
-    // TODO(bhavin-umatiya): Remove publish rate functionality
-    bool should_publish = false;
-    if (previous_publish_timestamp_.get_clock_type() != time.get_clock_type())
+    if (realtime_odometry_publisher_)
     {
-      should_publish = true;
-    }
-    else if (previous_publish_timestamp_ + publish_period_ <= time)
-    {
-      should_publish = true;
+      odometry_message_.header.stamp = time;
+      odometry_message_.pose.pose.position.x = odometry_.getX();
+      odometry_message_.pose.pose.position.y = odometry_.getY();
+      odometry_message_.pose.pose.orientation.x = orientation.x();
+      odometry_message_.pose.pose.orientation.y = orientation.y();
+      odometry_message_.pose.pose.orientation.z = orientation.z();
+      odometry_message_.pose.pose.orientation.w = orientation.w();
+      odometry_message_.twist.twist.linear.x = odometry_.getLinear();
+      odometry_message_.twist.twist.angular.z = odometry_.getAngular();
+      realtime_odometry_publisher_->try_publish(odometry_message_);
     }
 
-    if (should_publish)
+    if (params_.enable_odom_tf && realtime_odometry_transform_publisher_)
     {
-      if (previous_publish_timestamp_.get_clock_type() != time.get_clock_type())
-      {
-        previous_publish_timestamp_ = time;
-      }
-      else
-      {
-        previous_publish_timestamp_ += publish_period_;
-      }
-
-      if (realtime_odometry_publisher_)
-      {
-        odometry_message_.header.stamp = time;
-        odometry_message_.pose.pose.position.x = odometry_.getX();
-        odometry_message_.pose.pose.position.y = odometry_.getY();
-        odometry_message_.pose.pose.orientation.x = orientation.x();
-        odometry_message_.pose.pose.orientation.y = orientation.y();
-        odometry_message_.pose.pose.orientation.z = orientation.z();
-        odometry_message_.pose.pose.orientation.w = orientation.w();
-        odometry_message_.twist.twist.linear.x = odometry_.getLinear();
-        odometry_message_.twist.twist.angular.z = odometry_.getAngular();
-        realtime_odometry_publisher_->try_publish(odometry_message_);
-      }
-
-      if (params_.enable_odom_tf && realtime_odometry_transform_publisher_)
-      {
-        auto & transform = odometry_transform_message_.transforms.front();
-        transform.header.stamp = time;
-        transform.transform.translation.x = odometry_.getX();
-        transform.transform.translation.y = odometry_.getY();
-        transform.transform.rotation.x = orientation.x();
-        transform.transform.rotation.y = orientation.y();
-        transform.transform.rotation.z = orientation.z();
-        transform.transform.rotation.w = orientation.w();
-        realtime_odometry_transform_publisher_->try_publish(odometry_transform_message_);
-      }
+      auto & transform = odometry_transform_message_.transforms.front();
+      transform.header.stamp = time;
+      transform.transform.translation.x = odometry_.getX();
+      transform.transform.translation.y = odometry_.getY();
+      transform.transform.rotation.x = orientation.x();
+      transform.transform.rotation.y = orientation.y();
+      transform.transform.rotation.z = orientation.z();
+      transform.transform.rotation.w = orientation.w();
+      realtime_odometry_transform_publisher_->try_publish(odometry_transform_message_);
     }
   }
 
@@ -523,19 +500,6 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   odometry_message_.header.frame_id = odom_frame_id;
   odometry_message_.child_frame_id = base_frame_id;
 
-  // limit the publication on the topics /odom and /tf
-  publish_rate_ = params_.publish_rate;
-  publish_period_ = rclcpp::Duration::from_seconds(1.0 / publish_rate_);
-
-  // TODO(bhavin-umatiya): Remove this warning
-  if (publish_rate_ > 0.0 && !std::isnan(publish_rate_))
-  {
-    RCLCPP_WARN(
-      get_node()->get_logger(),
-      "[deprecated] publish_rate parameter is deprecated and will be removed in a future release. "
-      "The publish rate of odometry and TF messages should not be limited.");
-  }
-
   // initialize odom values zeros
   odometry_message_.twist =
     geometry_msgs::msg::TwistWithCovariance(rosidl_runtime_cpp::MessageInitialization::ALL);
@@ -567,7 +531,6 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
                                 std::placeholders::_2, std::placeholders::_3));
 
   previous_update_timestamp_ = get_node()->get_clock()->now();
-  previous_publish_timestamp_ = get_node()->get_clock()->now();
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
diff --git a/diff_drive_controller/src/diff_drive_controller_parameter.yaml b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
index 97acd56721..b0155c58f5 100644
--- a/diff_drive_controller/src/diff_drive_controller_parameter.yaml
+++ b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
@@ -122,13 +122,7 @@ diff_drive_controller:
     description: "Size of the rolling window for calculation of mean velocity use in odometry.",
     read_only: true,
   }
-  # TODO(bhavin-umatiya): Remove this parameter as it is deprecated
-  publish_rate: {
-    type: double,
-    default_value: 50.0, # Hz
-    description: "Publishing rate (Hz) of the odometry and TF messages. This parameter is deprecated and will be removed in a future release.",
-    read_only: true,
-  }
+
   linear:
     x:
       max_velocity: {
diff --git a/doc/release_notes.rst b/doc/release_notes.rst
index 6cbbbe06c6..5c9e7645a4 100644
--- a/doc/release_notes.rst
+++ b/doc/release_notes.rst
@@ -18,6 +18,7 @@ diff_drive_controller
 * Parameter ``tf_frame_prefix_enable`` got deprecated and will be removed in a future release (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).
 * Now any tilde ("~") character in ``tf_frame_prefix`` is substituted with node namespace. (`#1997 <https://github.com/ros-controls/ros2_controllers/pull/1997>`_).
 * Set odometry service added to be used at runtime. (`#2096 <https://github.com/ros-controls/ros2_controllers/pull/2096>`_).
+* Removed deprecated parameter ``publish_rate`` and associated rate-limiting logic. (`#2259 <https://github.com/ros-controls/ros2_controllers/pull/2259>`_).
 
 mecanum_drive_controller
 *****************************