diff --git a/django/core/signing.py b/django/core/signing.py
index 5521493490..e3d7785910 100644
--- a/django/core/signing.py
+++ b/django/core/signing.py
@@ -37,12 +37,10 @@ import base64
 import datetime
 import json
 import time
-import warnings
 import zlib
 
 from django.conf import settings
 from django.utils.crypto import constant_time_compare, salted_hmac
-from django.utils.deprecation import RemovedInDjango51Warning
 from django.utils.encoding import force_bytes
 from django.utils.module_loading import import_string
 from django.utils.regex_helper import _lazy_re_compile
@@ -177,18 +175,8 @@ def loads(
 
 
 class Signer:
-    # RemovedInDjango51Warning: When the deprecation ends, replace with:
-    # def __init__(
-    #   self, *, key=None, sep=":", salt=None, algorithm=None, fallback_keys=None
-    # ):
     def __init__(
-        self,
-        *args,
-        key=None,
-        sep=":",
-        salt=None,
-        algorithm=None,
-        fallback_keys=None,
+        self, *, key=None, sep=":", salt=None, algorithm=None, fallback_keys=None
     ):
         self.key = key or settings.SECRET_KEY
         self.fallback_keys = (
@@ -202,19 +190,6 @@ class Signer:
             self.__class__.__name__,
         )
         self.algorithm = algorithm or "sha256"
-        # RemovedInDjango51Warning.
-        if args:
-            warnings.warn(
-                f"Passing positional arguments to {self.__class__.__name__} is "
-                f"deprecated.",
-                RemovedInDjango51Warning,
-                stacklevel=2,
-            )
-            for arg, attr in zip(
-                args, ["key", "sep", "salt", "algorithm", "fallback_keys"]
-            ):
-                if arg or attr == "sep":
-                    setattr(self, attr, arg)
         if _SEP_UNSAFE.match(self.sep):
             raise ValueError(
                 "Unsafe Signer separator: %r (cannot be empty or consist of "
diff --git a/docs/releases/5.1.txt b/docs/releases/5.1.txt
index 2ca8a492ca..b365020d29 100644
--- a/docs/releases/5.1.txt
+++ b/docs/releases/5.1.txt
@@ -277,3 +277,6 @@ to remove usage of these features.
 
 * Support for passing encoded JSON string literals to ``JSONField`` and
   associated lookups and expressions is removed.
+
+* Support for passing positional arguments to ``Signer`` and
+  ``TimestampSigner`` is removed.
diff --git a/docs/topics/signing.txt b/docs/topics/signing.txt
index eaf1696b2c..9572f9baf9 100644
--- a/docs/topics/signing.txt
+++ b/docs/topics/signing.txt
@@ -120,10 +120,6 @@ generate signatures. You can use a different secret by passing it to the
     of additional values used to validate signed data, defaults to
     :setting:`SECRET_KEY_FALLBACKS`.
 
-    .. deprecated:: 4.2
-
-        Support for passing positional arguments is deprecated.
-
 Using the ``salt`` argument
 ---------------------------
 
@@ -209,10 +205,6 @@ created within a specified period of time:
         otherwise raises ``SignatureExpired``. The ``max_age`` parameter can
         accept an integer or a :py:class:`datetime.timedelta` object.
 
-    .. deprecated:: 4.2
-
-        Support for passing positional arguments is deprecated.
-
 .. _signing-complex-data:
 
 Protecting complex data structures
diff --git a/tests/signing/tests.py b/tests/signing/tests.py
index c145ce1e7d..0aadba12a1 100644
--- a/tests/signing/tests.py
+++ b/tests/signing/tests.py
@@ -2,9 +2,8 @@ import datetime
 
 from django.core import signing
 from django.test import SimpleTestCase, override_settings
-from django.test.utils import freeze_time, ignore_warnings
+from django.test.utils import freeze_time
 from django.utils.crypto import InvalidAlgorithm
-from django.utils.deprecation import RemovedInDjango51Warning
 
 
 class TestSigner(SimpleTestCase):
@@ -240,23 +239,3 @@ class TestBase62(SimpleTestCase):
         tests = [-(10**10), 10**10, 1620378259, *range(-100, 100)]
         for i in tests:
             self.assertEqual(i, signing.b62_decode(signing.b62_encode(i)))
-
-
-class SignerPositionalArgumentsDeprecationTests(SimpleTestCase):
-    def test_deprecation(self):
-        msg = "Passing positional arguments to Signer is deprecated."
-        with self.assertRaisesMessage(RemovedInDjango51Warning, msg):
-            signing.Signer("predictable-secret")
-        msg = "Passing positional arguments to TimestampSigner is deprecated."
-        with self.assertRaisesMessage(RemovedInDjango51Warning, msg):
-            signing.TimestampSigner("predictable-secret")
-
-    @ignore_warnings(category=RemovedInDjango51Warning)
-    def test_positional_arguments(self):
-        signer = signing.Signer("secret", "/", "somesalt", "sha1", ["oldsecret"])
-        signed = signer.sign("xyz")
-        self.assertEqual(signed, "xyz/zzdO_8rk-NGnm8jNasXRTF2P5kY")
-        self.assertEqual(signer.unsign(signed), "xyz")
-        old_signer = signing.Signer("oldsecret", "/", "somesalt", "sha1")
-        signed = old_signer.sign("xyz")
-        self.assertEqual(signer.unsign(signed), "xyz")