diff --git a/CHANGES.rst b/CHANGES.rst
index 9f4a1b52f..51707099c 100644
--- a/CHANGES.rst
+++ b/CHANGES.rst
@@ -15,6 +15,7 @@ The ASDF Standard is at v1.6.0
   by returning ``None`` in ``Converter.select_tag`` [#1561]
 - Remove deprecated tests.helpers [#1597]
 - Remove deprecated load_custom_schema [#1596]
+- Remove deprecated TagDefinition.schema_uri [#1595]
 
 2.15.1 (2023-08-07)
 -------------------
diff --git a/asdf/_tests/test_extension.py b/asdf/_tests/test_extension.py
index 6adc39a6b..d92d0041b 100644
--- a/asdf/_tests/test_extension.py
+++ b/asdf/_tests/test_extension.py
@@ -462,9 +462,6 @@ def test_tag_definition():
 
     assert "URI: asdf://somewhere.org/extensions/foo/tags/foo-1.0" in repr(tag_def)
 
-    with pytest.warns(AsdfDeprecationWarning, match=r"The .* property is deprecated.*"):
-        assert tag_def.schema_uri == "asdf://somewhere.org/extensions/foo/schemas/foo-1.0"
-
     tag_def = TagDefinition(
         "asdf://somewhere.org/extensions/foo/tags/foo-1.0",
         schema_uris=[
@@ -479,11 +476,6 @@ def test_tag_definition():
         "asdf://somewhere.org/extensions/foo/schemas/foo-1.0",
         "asdf://somewhere.org/extensions/foo/schemas/base-1.0",
     ]
-    with pytest.warns(AsdfDeprecationWarning, match=r"The .* property is deprecated.*"), pytest.raises(
-        RuntimeError,
-        match=r"Cannot use .* when multiple schema URIs are present",
-    ):
-        tag_def.schema_uri
 
     with pytest.raises(ValueError, match=r"URI patterns are not permitted in TagDefinition"):
         TagDefinition("asdf://somewhere.org/extensions/foo/tags/foo-*")
diff --git a/asdf/extension/_tag.py b/asdf/extension/_tag.py
index 5072567aa..e96c4e67f 100644
--- a/asdf/extension/_tag.py
+++ b/asdf/extension/_tag.py
@@ -1,8 +1,3 @@
-import warnings
-
-from asdf.exceptions import AsdfDeprecationWarning
-
-
 class TagDefinition:
     """
     Container for properties of a custom YAML tag.
@@ -11,7 +6,7 @@ class TagDefinition:
     ----------
     tag_uri : str
         Tag URI.
-    schema_uri : str, optional
+    schema_uris : str, optional
         URI of the schema that should be used to validate objects
         with this tag.
     title : str, optional
@@ -50,32 +45,6 @@ def tag_uri(self):
         """
         return self._tag_uri
 
-    @property
-    def schema_uri(self):
-        """
-        DEPRECATED
-
-        Get the URI of the schema that should be used to validate
-        objects with this tag.
-
-        Returns
-        -------
-        str or None
-        """
-        warnings.warn(
-            "The TagDefinition.schema_uri property is deprecated.  Use TagDefinition.schema_uris instead.",
-            AsdfDeprecationWarning,
-        )
-
-        if len(self._schema_uris) == 0:
-            return None
-
-        if len(self._schema_uris) == 1:
-            return self._schema_uris[0]
-
-        msg = "Cannot use TagDefinition.schema_uri when multiple schema URIs are present"
-        raise RuntimeError(msg)
-
     @property
     def schema_uris(self):
         """
diff --git a/docs/asdf/extending/extensions.rst b/docs/asdf/extending/extensions.rst
index 19c09f765..4a7303f3a 100644
--- a/docs/asdf/extending/extensions.rst
+++ b/docs/asdf/extending/extensions.rst
@@ -86,7 +86,7 @@ instead of just a string:
         tags = [
             TagDefinition(
                 "asdf://example.com/example-project/tags/foo-1.0.0",
-                schema_uri="asdf://example.com/example-project/schemas/foo-1.0.0",
+                schema_uris=["asdf://example.com/example-project/schemas/foo-1.0.0"],
             )
         ]
         converters = [FooConverter()]