diff --git a/doc/maintenance.md b/doc/maintenance.md
index ba72a88106a..dabf808d76e 100644
--- a/doc/maintenance.md
+++ b/doc/maintenance.md
@@ -146,6 +146,47 @@ supported version of Python. Minimum Python and NumPy version support should be
 adjusted upward on every major and minor release, but never on a patch release.
 
 
+## Backwards compatibility and deprecation policy
+
+PyGMT is still undergoing rapid developement. All of the API is subject to change
+until the v1.0.0 release.
+
+Basic policy for backwards compatibility:
+
+- Any incompatible changes should go through the deprecation process below.
+- Incompatible changes are only allowed in major and minor releases, not in
+  patch releases.
+- Incompatible changes should be documented in the release notes.
+
+When making incompatible changes, we should follow the process:
+
+- Discuss whether the incompatible changes are necessary on GitHub.
+- Make the changes in a backwards compatible way, and raise a `FutureWarning`
+  warning for old usage. At least one test using the old usage should be added.
+- The warning message should clearly explain the changes and include the versions
+  in which the old usage is deprecated and is expected to be removed.
+- The `FutureWarning` warning should appear for 2-4 minor versions, depending on
+  the impact of the changes. It means the deprecation period usually lasts
+  3-12 months.
+- Remove the old usage and warning when reaching the declared version.
+
+To rename a function parameter, add the `@deprecated_parameter` decorator
+before the function definition (but after the `@use_alias` decorator if it exists).
+Here is an example:
+
+```
+@fmt_docstring
+@use_alias(J="projection", R="region", V="verbose")
+@kwargs_to_strings(R="sequence")
+@deprecate_parameter("sizes", "size", "v0.4.0", remove_version="v0.6.0")
+def plot(self, x=None, y=None, data=None, size=None, direction=None, **kwargs):
+    pass
+```
+
+In this case, the old parameter name `sizes` is deprecated since v0.4.0, and will be
+fully removed in v0.6.0. The new parameter name is `size`.
+
+
 ## Making a Release
 
 We try to automate the release process as much as possible.
diff --git a/pygmt/helpers/__init__.py b/pygmt/helpers/__init__.py
index 84aaad0fb9a..2b372c59aa1 100644
--- a/pygmt/helpers/__init__.py
+++ b/pygmt/helpers/__init__.py
@@ -1,7 +1,12 @@
 """
 Functions, classes, decorators, and context managers to help wrap GMT modules.
 """
-from pygmt.helpers.decorators import fmt_docstring, kwargs_to_strings, use_alias
+from pygmt.helpers.decorators import (
+    deprecate_parameter,
+    fmt_docstring,
+    kwargs_to_strings,
+    use_alias,
+)
 from pygmt.helpers.tempfile import GMTTempFile, unique_name
 from pygmt.helpers.utils import (
     args_in_kwargs,
diff --git a/pygmt/helpers/decorators.py b/pygmt/helpers/decorators.py
index dcd26723142..485e05258de 100644
--- a/pygmt/helpers/decorators.py
+++ b/pygmt/helpers/decorators.py
@@ -7,6 +7,7 @@
 """
 import functools
 import textwrap
+import warnings
 
 import numpy as np
 from pygmt.exceptions import GMTInvalidInput
@@ -439,3 +440,82 @@ def new_module(*args, **kwargs):
         return new_module
 
     return converter
+
+
+def deprecate_parameter(oldname, newname, deprecate_version, remove_version):
+    """
+    Decorator to deprecate a parameter.
+
+    The old parameter name will be automatically swapped to the new parameter
+    name, and users will receive a FutureWarning to inform them of the pending
+    deprecation.
+
+    Use this decorator below the ``use_alias`` decorator.
+
+    Parameters
+    ----------
+    oldname : str
+        The old, deprecated parameter name.
+    newname : str
+        The new parameter name.
+    deprecate_version : str
+        The PyGMT version when the old parameter starts to be deprecated.
+    remove_version : str
+        The PyGMT version when the old parameter will be fully removed.
+
+    Examples
+    --------
+    >>> @deprecate_parameter("sizes", "size", "v0.0.0", "v9.9.9")
+    ... @deprecate_parameter("colors", "color", "v0.0.0", "v9.9.9")
+    ... @deprecate_parameter("infile", "data", "v0.0.0", "v9.9.9")
+    ... def module(data, size=0, **kwargs):
+    ...     "A module that prints the arguments it received"
+    ...     print(f"data={data}, size={size}, color={kwargs['color']}")
+    >>> # new names are supported
+    >>> module(data="table.txt", size=5.0, color="red")
+    data=table.txt, size=5.0, color=red
+    >>> # old names are supported, FutureWarning warnings are reported
+    >>> with warnings.catch_warnings(record=True) as w:
+    ...     module(infile="table.txt", sizes=5.0, colors="red")
+    ...     # check the number of warnings
+    ...     assert len(w) == 3
+    ...     for i in range(len(w)):
+    ...         assert issubclass(w[i].category, FutureWarning)
+    ...         assert "deprecated" in str(w[i].message)
+    ...
+    data=table.txt, size=5.0, color=red
+    >>> # using both old and new names will raise an GMTInvalidInput exception
+    >>> import pytest
+    >>> with pytest.raises(GMTInvalidInput):
+    ...     module(data="table.txt", size=5.0, sizes=4.0)
+    ...
+    """
+
+    def deprecator(module_func):
+        """
+        The decorator that creates the new function to work with both old and
+        new parameters.
+        """
+
+        @functools.wraps(module_func)
+        def new_module(*args, **kwargs):
+            """
+            New module instance that converts old parameters to new parameters.
+            """
+            if oldname in kwargs:
+                if newname in kwargs:
+                    raise GMTInvalidInput(
+                        f"Can't provide both '{newname}' and '{oldname}'."
+                    )
+                msg = (
+                    f"The '{oldname}' parameter has been deprecated since {deprecate_version}"
+                    f" and will be removed in {remove_version}."
+                    f" Please use '{newname}' instead."
+                )
+                warnings.warn(msg, category=FutureWarning, stacklevel=2)
+                kwargs[newname] = kwargs.pop(oldname)
+            return module_func(*args, **kwargs)
+
+        return new_module
+
+    return deprecator