diff --git a/CHANGES.rst b/CHANGES.rst
index 809ddc44b..3edd1b945 100644
--- a/CHANGES.rst
+++ b/CHANGES.rst
@@ -20,6 +20,8 @@
 - Improve warning message when falling back to an older schema,
   and note that fallback behavior will be removed in 3.0. [#806]
 
+- Drop support for jsonschema 2.x. [#807]
+
 2.6.1 (unreleased)
 ------------------
 
diff --git a/asdf/compat/jsonschemacompat.py b/asdf/compat/jsonschemacompat.py
deleted file mode 100644
index fa4c171f5..000000000
--- a/asdf/compat/jsonschemacompat.py
+++ /dev/null
@@ -1,7 +0,0 @@
-from ..util import minversion
-
-
-__all__ = ['JSONSCHEMA_LT_3']
-
-
-JSONSCHEMA_LT_3 = not minversion('jsonschema', '3.0.0')
diff --git a/asdf/schema.py b/asdf/schema.py
index 4d7d56809..4aacbd2fe 100644
--- a/asdf/schema.py
+++ b/asdf/schema.py
@@ -21,7 +21,6 @@
 from . import reference
 from . import treeutil
 from . import util
-from .compat.jsonschemacompat import JSONSCHEMA_LT_3
 from . import extension
 from .exceptions import AsdfDeprecationWarning, AsdfWarning
 
@@ -249,29 +248,20 @@ def _make_seen_key(self, instance, schema):
 def _create_validator(validators=YAML_VALIDATORS, visit_repeat_nodes=False):
     meta_schema = _load_schema_cached(YAML_SCHEMA_METASCHEMA_ID, extension.get_default_resolver(), False, False)
 
-    if JSONSCHEMA_LT_3:
-        base_cls = mvalidators.create(meta_schema=meta_schema, validators=validators)
-    else:
-        type_checker = mvalidators.Draft4Validator.TYPE_CHECKER.redefine_many({
-            'array': lambda checker, instance: isinstance(instance, list) or isinstance(instance, tuple),
-            'integer': lambda checker, instance: not isinstance(instance, bool) and isinstance(instance, Integral),
-            'string': lambda checker, instance: isinstance(instance, (str, np.str_)),
-        })
-        id_of = mvalidators.Draft4Validator.ID_OF
-        base_cls = mvalidators.create(
-            meta_schema=meta_schema,
-            validators=validators,
-            type_checker=type_checker,
-            id_of=id_of
-        )
+    type_checker = mvalidators.Draft4Validator.TYPE_CHECKER.redefine_many({
+        'array': lambda checker, instance: isinstance(instance, list) or isinstance(instance, tuple),
+        'integer': lambda checker, instance: not isinstance(instance, bool) and isinstance(instance, Integral),
+        'string': lambda checker, instance: isinstance(instance, (str, np.str_)),
+    })
+    id_of = mvalidators.Draft4Validator.ID_OF
+    base_cls = mvalidators.create(
+        meta_schema=meta_schema,
+        validators=validators,
+        type_checker=type_checker,
+        id_of=id_of
+    )
 
     class ASDFValidator(base_cls):
-        if JSONSCHEMA_LT_3:
-            DEFAULT_TYPES = base_cls.DEFAULT_TYPES.copy()
-            DEFAULT_TYPES['array'] = (list, tuple)
-            DEFAULT_TYPES['integer'] = (Integral)
-            DEFAULT_TYPES['string'] = (str, np.str_)
-
         def __init__(self, *args, **kwargs):
             super().__init__(*args, **kwargs)
             self._context = _ValidationContext()
diff --git a/docs/asdf/install.rst b/docs/asdf/install.rst
index bf045a46e..3dab6efdb 100644
--- a/docs/asdf/install.rst
+++ b/docs/asdf/install.rst
@@ -12,15 +12,15 @@ Requirements
 
 The ``asdf`` package has the following dependencies:
 
-- `python <https://www.python.org/>`__  3.3 or later
+- `python <https://www.python.org/>`__  3.5 or later
 
-- `numpy <https://www.numpy.org/>`__ 1.8 or later
+- `numpy <https://www.numpy.org/>`__ 1.10 or later
 
-- `jsonschema <https://python-jsonschema.readthedocs.io/>`__ 2.3.0 or later
+- `jsonschema <https://python-jsonschema.readthedocs.io/>`__ 3.0.2 or later
 
 - `pyyaml <https://pyyaml.org>`__ 3.10 or later
 
-- `semantic_version <https://python-semanticversion.readthedocs.io/>`__ 2.3.1 or later
+- `semantic_version <https://python-semanticversion.readthedocs.io/>`__ 2.8 or later
 
 Support for units, time, transform, wcs, or running the tests also
 requires:
@@ -32,10 +32,6 @@ compression is provided by:
 
 - `lz4 <https://python-lz4.readthedocs.io/>`__ 0.10 or later
 
-Also required for running the tests:
-
-- `pytest-astropy <https://github.com/astropy/pytest-astropy>`__
-
 Installing with pip
 ===================
 
diff --git a/setup.cfg b/setup.cfg
index d71700369..c69052304 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -31,8 +31,8 @@ include_package_data = True
 install_requires =
     semantic_version>=2.8
     pyyaml>=3.10
-    jsonschema>=2.3,<4
-    numpy>=1.8
+    jsonschema>=3.0.2,<4
+    numpy>=1.10
 
 [options.extras_require]
 all =
diff --git a/tox.ini b/tox.ini
index dc3cb008b..f166e673b 100644
--- a/tox.ini
+++ b/tox.ini
@@ -15,9 +15,9 @@ deps=
     # isn't compatible with the older versions of numpy
     # that we test with.
     py35,py36: gwcs==0.9.1
-    legacy: semantic_version==2.3.1
+    legacy: semantic_version==2.8
     legacy: pyyaml==3.10
-    legacy: jsonschema==2.3
+    legacy: jsonschema==3.0.2
     legacy: numpy~=1.10.0
     numpy11,numpy12,legacy: astropy~=3.0.0
     numpy11: numpy==1.11