diff --git a/wagtail/contrib/sitemaps/sitemap_generator.py b/wagtail/contrib/sitemaps/sitemap_generator.py
index 6042e8e0bd..5203ff93f5 100644
--- a/wagtail/contrib/sitemaps/sitemap_generator.py
+++ b/wagtail/contrib/sitemaps/sitemap_generator.py
@@ -1,10 +1,5 @@
-import warnings
-
 from django.contrib.sitemaps import Sitemap as DjangoSitemap
 
-from wagtail.core.utils import accepts_kwarg
-from wagtail.utils.deprecation import RemovedInWagtail24Warning
-
 
 class Sitemap(DjangoSitemap):
 
@@ -44,15 +39,7 @@ class Sitemap(DjangoSitemap):
 
         for item in self.paginator.page(page).object_list:
 
-            if not accepts_kwarg(item.get_sitemap_urls, 'request'):
-                warnings.warn(
-                    "%s.get_sitemap_urls() must be updated to accept an optional "
-                    "'request' keyword argument" % type(item).__name__,
-                    category=RemovedInWagtail24Warning)
-
-                url_info_items = item.get_sitemap_urls()
-            else:
-                url_info_items = item.get_sitemap_urls(self.request)
+            url_info_items = item.get_sitemap_urls(self.request)
 
             for url_info in url_info_items:
                 urls.append(url_info)