diff --git a/ndn-cxx/util/scheduler-scoped-event-id.hpp b/ndn-cxx/util/scheduler-scoped-event-id.hpp
deleted file mode 100644
index ea30af9..0000000
--- a/ndn-cxx/util/scheduler-scoped-event-id.hpp
+++ /dev/null
@@ -1,29 +0,0 @@
-/* -*- Mode:C++; c-file-style:"gnu"; indent-tabs-mode:nil; -*- */
-/*
- * Copyright (c) 2013-2019 Regents of the University of California.
- *
- * This file is part of ndn-cxx library (NDN C++ library with eXperimental eXtensions).
- *
- * ndn-cxx library is free software: you can redistribute it and/or modify it under the
- * terms of the GNU Lesser General Public License as published by the Free Software
- * Foundation, either version 3 of the License, or (at your option) any later version.
- *
- * ndn-cxx library is distributed in the hope that it will be useful, but WITHOUT ANY
- * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
- * PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more details.
- *
- * You should have received copies of the GNU General Public License and GNU Lesser
- * General Public License along with ndn-cxx, e.g., in COPYING.md file.  If not, see
- * <http://www.gnu.org/licenses/>.
- *
- * See AUTHORS.md for complete list of ndn-cxx authors and contributors.
- */
-
-#ifndef NDN_UTIL_SCHEDULER_SCOPED_EVENT_ID_HPP
-#define NDN_UTIL_SCHEDULER_SCOPED_EVENT_ID_HPP
-
-#pragma message("scheduler-scoped-event-id.hpp has been combined into scheduler.hpp")
-
-#include "ndn-cxx/util/scheduler.hpp"
-
-#endif // NDN_UTIL_SCHEDULER_SCOPED_EVENT_ID_HPP
diff --git a/ndn-cxx/util/scheduler.cpp b/ndn-cxx/util/scheduler.cpp
index f059a4b..f930810 100644
--- a/ndn-cxx/util/scheduler.cpp
+++ b/ndn-cxx/util/scheduler.cpp
@@ -25,7 +25,6 @@
 #include <boost/scope_exit.hpp>
 
 namespace ndn {
-namespace util {
 namespace scheduler {
 
 /** \brief Stores internal information about a scheduled event
@@ -91,7 +90,7 @@
 }
 
 Scheduler::Scheduler(boost::asio::io_service& ioService)
-  : m_timer(make_unique<detail::SteadyTimer>(ioService))
+  : m_timer(make_unique<util::detail::SteadyTimer>(ioService))
 {
 }
 
@@ -176,5 +175,4 @@
 }
 
 } // namespace scheduler
-} // namespace util
 } // namespace ndn
diff --git a/ndn-cxx/util/scheduler.hpp b/ndn-cxx/util/scheduler.hpp
index ed81a03..ae69cc6 100644
--- a/ndn-cxx/util/scheduler.hpp
+++ b/ndn-cxx/util/scheduler.hpp
@@ -30,11 +30,12 @@
 #include <set>
 
 namespace ndn {
-namespace util {
 
+namespace util {
 namespace detail {
 class SteadyTimer;
 } // namespace detail
+} // namespace util
 
 namespace scheduler {
 
@@ -45,7 +46,7 @@
  */
 using EventCallback = std::function<void()>;
 
-/** \brief A handle of scheduled event.
+/** \brief A handle for a scheduled event.
  *
  *  \code
  *  EventId eid = scheduler.schedule(10_ms, [] { doSomething(); });
@@ -56,20 +57,13 @@
  *  \warning Canceling an event after the scheduler has been destructed may trigger undefined
  *           behavior.
  */
-class EventId : public ndn::detail::CancelHandle
+class EventId : public detail::CancelHandle
 {
 public:
   /** \brief Constructs an empty EventId
    */
   EventId() noexcept = default;
 
-  /** \brief Allow implicit conversion from nullptr.
-   */
-  [[deprecated]]
-  EventId(std::nullptr_t) noexcept
-  {
-  }
-
   /** \brief Determine whether the event is valid.
    *  \retval true The event is valid.
    *  \retval false This EventId is empty, or the event is expired or cancelled.
@@ -108,7 +102,7 @@
 std::ostream&
 operator<<(std::ostream& os, const EventId& eventId);
 
-/** \brief A scoped handle of scheduled event.
+/** \brief A scoped handle for a scheduled event.
  *
  *  Upon destruction of this handle, the event is canceled automatically.
  *  Most commonly, the application keeps a ScopedEventId as a class member field, so that it can
@@ -124,20 +118,10 @@
  *  \warning Canceling an event after the scheduler has been destructed may trigger undefined
  *           behavior.
  */
-class ScopedEventId : public ndn::detail::ScopedCancelHandle
+class ScopedEventId : public detail::ScopedCancelHandle
 {
 public:
   using ScopedCancelHandle::ScopedCancelHandle;
-
-  ScopedEventId() noexcept = default;
-
-  /** \deprecated Scheduler argument is no longer necessary. Use default construction instead.
-   */
-  [[deprecated]]
-  explicit
-  ScopedEventId(Scheduler&) noexcept
-  {
-  }
 };
 
 /** \brief Generic time-based scheduler
@@ -156,24 +140,6 @@
   EventId
   schedule(time::nanoseconds after, EventCallback callback);
 
-  /** \deprecated use schedule(after, callback)
-   */
-  [[deprecated("use schedule(after, callback)")]]
-  EventId
-  scheduleEvent(time::nanoseconds after, EventCallback callback)
-  {
-    return schedule(after, std::move(callback));
-  }
-
-  /** \deprecated use EventId::cancel()
-   */
-  [[deprecated("use EventId::cancel()")]]
-  void
-  cancelEvent(const EventId& eid)
-  {
-    eid.cancel();
-  }
-
   /** \brief Cancel all scheduled events
    */
   void
@@ -216,17 +182,8 @@
 
 } // namespace scheduler
 
-// for backwards compatibility
-using Scheduler [[deprecated]] = scheduler::Scheduler;
-
-} // namespace util
-
-namespace scheduler = util::scheduler;
 using scheduler::Scheduler;
 
-// for backwards compatibility
-using EventId [[deprecated]] = util::scheduler::EventId;
-
 } // namespace ndn
 
 #endif // NDN_UTIL_SCHEDULER_HPP
diff --git a/tests/integrated/scheduler-benchmark.cpp b/tests/integrated/scheduler-benchmark.cpp
index ecf6342..51192ee 100644
--- a/tests/integrated/scheduler-benchmark.cpp
+++ b/tests/integrated/scheduler-benchmark.cpp
@@ -29,7 +29,6 @@
 #include <iostream>
 
 namespace ndn {
-namespace util {
 namespace scheduler {
 namespace tests {
 
@@ -89,5 +88,4 @@
 
 } // namespace tests
 } // namespace scheduler
-} // namespace util
 } // namespace ndn
diff --git a/tests/unit/util/scheduler.t.cpp b/tests/unit/util/scheduler.t.cpp
index 6497136..3c13c70 100644
--- a/tests/unit/util/scheduler.t.cpp
+++ b/tests/unit/util/scheduler.t.cpp
@@ -27,7 +27,6 @@
 #include <boost/lexical_cast.hpp>
 
 namespace ndn {
-namespace util {
 namespace scheduler {
 namespace tests {
 
@@ -366,5 +365,4 @@
 
 } // namespace tests
 } // namespace scheduler
-} // namespace util
 } // namespace ndn