diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0430d8736d4..30b1da17338 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@
  * `TransparentUpgradeableProxy`: Removed `admin` and `implementation` getters, which were only callable by the proxy owner and thus not very useful. ([#3820](https://github.com/OpenZeppelin/openzeppelin-contracts/pull/3820))
  * `ProxyAdmin`: Removed `getProxyAdmin` and `getProxyImplementation` getters. ([#3820](https://github.com/OpenZeppelin/openzeppelin-contracts/pull/3820))
  * `ERC20`: Deleted `_beforeTokenTransfer` and `_afterTokenTransfer` hooks, added a new internal `_update` function for customizations, and refactored all extensions using those hooks to use `_update` instead. ([#3838](https://github.com/OpenZeppelin/openzeppelin-contracts/pull/3838))
+ * `ERC165Storage`: Removed this contract in favor of inheritance based approach. ([#3880](https://github.com/OpenZeppelin/openzeppelin-contracts/pull/3880))
 
 ### How to upgrade from 4.x
 
@@ -33,6 +34,16 @@ For example, a contract using `ERC20`'s `_beforeTokenTransfer` hook would have t
   }
 ```
 
+#### ERC165Storage
+
+Users that were registering EIP-165 interfaces with `_registerInterface` from `ERC165Storage` should instead do so so by overriding the `supportsInterface` function as seen below:
+
+```solidity
+function supportsInterface(bytes4 interfaceId) public view virtual override returns (bool) {
+    return interfaceId == type(MyInterface).interfaceId || super.supportsInterface(interfaceId);
+}
+```
+
 ## Unreleased
 
  * `ReentrancyGuard`: Add a `_reentrancyGuardEntered` function to expose the guard status. ([#3714](https://github.com/OpenZeppelin/openzeppelin-contracts/pull/3714))
diff --git a/contracts/mocks/ERC165StorageMock.sol b/contracts/mocks/ERC165StorageMock.sol
deleted file mode 100644
index 4b0bae90865..00000000000
--- a/contracts/mocks/ERC165StorageMock.sol
+++ /dev/null
@@ -1,11 +0,0 @@
-// SPDX-License-Identifier: MIT
-
-pragma solidity ^0.8.0;
-
-import "../utils/introspection/ERC165Storage.sol";
-
-contract ERC165StorageMock is ERC165Storage {
-    function registerInterface(bytes4 interfaceId) public {
-        _registerInterface(interfaceId);
-    }
-}
diff --git a/contracts/utils/README.adoc b/contracts/utils/README.adoc
index 7fef825a6fd..babaef522ee 100644
--- a/contracts/utils/README.adoc
+++ b/contracts/utils/README.adoc
@@ -70,8 +70,6 @@ Note that, in all cases, accounts simply _declare_ their interfaces, but they ar
 
 {{ERC165}}
 
-{{ERC165Storage}}
-
 {{ERC165Checker}}
 
 {{IERC1820Registry}}
diff --git a/contracts/utils/introspection/ERC165.sol b/contracts/utils/introspection/ERC165.sol
index 3bf5613a6cc..49395f8a1d1 100644
--- a/contracts/utils/introspection/ERC165.sol
+++ b/contracts/utils/introspection/ERC165.sol
@@ -16,8 +16,6 @@ import "./IERC165.sol";
  *     return interfaceId == type(MyInterface).interfaceId || super.supportsInterface(interfaceId);
  * }
  * ```
- *
- * Alternatively, {ERC165Storage} provides an easier to use but more expensive implementation.
  */
 abstract contract ERC165 is IERC165 {
     /**
diff --git a/contracts/utils/introspection/ERC165Storage.sol b/contracts/utils/introspection/ERC165Storage.sol
deleted file mode 100644
index c99d9f3fbad..00000000000
--- a/contracts/utils/introspection/ERC165Storage.sol
+++ /dev/null
@@ -1,42 +0,0 @@
-// SPDX-License-Identifier: MIT
-// OpenZeppelin Contracts v4.4.1 (utils/introspection/ERC165Storage.sol)
-
-pragma solidity ^0.8.0;
-
-import "./ERC165.sol";
-
-/**
- * @dev Storage based implementation of the {IERC165} interface.
- *
- * Contracts may inherit from this and call {_registerInterface} to declare
- * their support of an interface.
- */
-abstract contract ERC165Storage is ERC165 {
-    /**
-     * @dev Mapping of interface ids to whether or not it's supported.
-     */
-    mapping(bytes4 => bool) private _supportedInterfaces;
-
-    /**
-     * @dev See {IERC165-supportsInterface}.
-     */
-    function supportsInterface(bytes4 interfaceId) public view virtual override returns (bool) {
-        return super.supportsInterface(interfaceId) || _supportedInterfaces[interfaceId];
-    }
-
-    /**
-     * @dev Registers the contract as an implementer of the interface defined by
-     * `interfaceId`. Support of the actual ERC165 interface is automatic and
-     * registering its interface id is not required.
-     *
-     * See {IERC165-supportsInterface}.
-     *
-     * Requirements:
-     *
-     * - `interfaceId` cannot be the ERC165 invalid interface (`0xffffffff`).
-     */
-    function _registerInterface(bytes4 interfaceId) internal virtual {
-        require(interfaceId != 0xffffffff, "ERC165: invalid interface id");
-        _supportedInterfaces[interfaceId] = true;
-    }
-}
diff --git a/test/utils/introspection/ERC165Storage.test.js b/test/utils/introspection/ERC165Storage.test.js
deleted file mode 100644
index 568d64576fe..00000000000
--- a/test/utils/introspection/ERC165Storage.test.js
+++ /dev/null
@@ -1,25 +0,0 @@
-const { expectRevert } = require('@openzeppelin/test-helpers');
-
-const { shouldSupportInterfaces } = require('./SupportsInterface.behavior');
-
-const ERC165Mock = artifacts.require('ERC165StorageMock');
-
-contract('ERC165Storage', function (accounts) {
-  beforeEach(async function () {
-    this.mock = await ERC165Mock.new();
-  });
-
-  it('register interface', async function () {
-    expect(await this.mock.supportsInterface('0x00000001')).to.be.equal(false);
-    await this.mock.registerInterface('0x00000001');
-    expect(await this.mock.supportsInterface('0x00000001')).to.be.equal(true);
-  });
-
-  it('does not allow 0xffffffff', async function () {
-    await expectRevert(this.mock.registerInterface('0xffffffff'), 'ERC165: invalid interface id');
-  });
-
-  shouldSupportInterfaces([
-    'ERC165',
-  ]);
-});