diff --git a/ansible/group_vars/all/bifrost b/ansible/group_vars/all/bifrost
index 4aef1e35b..cb7e1d855 100644
--- a/ansible/group_vars/all/bifrost
+++ b/ansible/group_vars/all/bifrost
@@ -38,8 +38,9 @@ kolla_bifrost_dib_packages: []
 ###############################################################################
 # Ironic configuration.
 
-# Whether to enable ipmitool-based drivers.
-kolla_bifrost_enable_ipmitool_drivers: true
+# List of hardware types to enable for Bifrost's Ironic.
+kolla_bifrost_enabled_hardware_types:
+  - ipmi
 
 ###############################################################################
 # Ironic Inspector configuration.
diff --git a/ansible/group_vars/all/ironic b/ansible/group_vars/all/ironic
index 8cc9400fb..f950b9c6e 100644
--- a/ansible/group_vars/all/ironic
+++ b/ansible/group_vars/all/ironic
@@ -2,11 +2,6 @@
 ###############################################################################
 # Ironic configuration.
 
-# List of enabled Ironic drivers.
-kolla_ironic_drivers:
-  - agent_ipmitool
-  - pxe_ipmitool
-
 # Specify the list of hardware types to load during service initialization.
 kolla_ironic_enabled_hardware_types:
   - ipmi
diff --git a/ansible/kolla-bifrost.yml b/ansible/kolla-bifrost.yml
index 1dfff0983..2cc1c3c48 100644
--- a/ansible/kolla-bifrost.yml
+++ b/ansible/kolla-bifrost.yml
@@ -5,8 +5,6 @@
     - kolla-bifrost
   vars:
     kolla_bifrost_extra_globals_path: "{{ kayobe_config_path ~ '/kolla/config/bifrost/bifrost.yml' }}"
-    kolla_bifrost_driver_map:
-      - { name: agent_ipmitool, enabled: "{{ kolla_bifrost_enable_ipmitool_drivers | bool }}" }
 
   pre_tasks:
     - name: Check whether a Kolla Bifrost extra globals configuration file exists
@@ -25,11 +23,6 @@
   roles:
     - role: kolla-bifrost
 
-      # Generate a list of enabled drivers from the map.
-      kolla_bifrost_enabled_drivers: >
-        {{ kolla_bifrost_driver_map | selectattr('enabled') | map(attribute='name') | list }}
-      kolla_bifrost_enable_pxe_drivers: false
-
       # Network configuration.
       kolla_bifrost_dhcp_pool_start: "{{ provision_oc_net_name | net_inspection_allocation_pool_start }}"
       kolla_bifrost_dhcp_pool_end: "{{ provision_oc_net_name | net_inspection_allocation_pool_end }}"
diff --git a/ansible/roles/kolla-bifrost/defaults/main.yml b/ansible/roles/kolla-bifrost/defaults/main.yml
index bdb78aec6..de705acd0 100644
--- a/ansible/roles/kolla-bifrost/defaults/main.yml
+++ b/ansible/roles/kolla-bifrost/defaults/main.yml
@@ -20,14 +20,8 @@ kolla_bifrost_dib_env_vars: {}
 # List of DIB image packages.
 kolla_bifrost_dib_packages: []
 
-# List of Ironic drivers to enable.
-kolla_bifrost_enabled_drivers: []
-
-# Whether to enable the Ironic PXE drivers.
-kolla_bifrost_enable_pxe_drivers: false
-
-# List of Ironic PXE drivers to enable if kolla_bifrost_enable_pxe_drivers.
-kolla_bifrost_pxe_drivers: []
+# List of hardware types to enable for Bifrost's Ironic.
+kolla_bifrost_enabled_hardware_types: []
 
 # IP address range for DHCP.
 kolla_bifrost_dhcp_pool_start:
diff --git a/ansible/roles/kolla-bifrost/templates/bifrost.yml.j2 b/ansible/roles/kolla-bifrost/templates/bifrost.yml.j2
index 020de20d9..46c5fe291 100644
--- a/ansible/roles/kolla-bifrost/templates/bifrost.yml.j2
+++ b/ansible/roles/kolla-bifrost/templates/bifrost.yml.j2
@@ -1,12 +1,6 @@
 ---
-# List of enabled Ironic drivers.
-enabled_drivers: "{{ kolla_bifrost_enabled_drivers | join(',') }}"
-
-# Whether to enable legacy PXE/iscsi drivers.
-enable_pxe_drivers: {{ kolla_bifrost_enable_pxe_drivers | bool }}
-
-# List of legacy PXE/iscsi drivers to enable.
-pxe_drivers: "{{ kolla_bifrost_pxe_drivers | join(',') }}"
+# List of enabled Ironic hardware types.
+enabled_hardware_types: "{{ kolla_bifrost_enabled_hardware_types | join(',') }}"
 
 # IP address range for DHCP.
 dhcp_pool_start: "{{ kolla_bifrost_dhcp_pool_start }}"
diff --git a/ansible/roles/kolla-openstack/templates/ironic.conf.j2 b/ansible/roles/kolla-openstack/templates/ironic.conf.j2
index 0b8bbd026..d589e209a 100644
--- a/ansible/roles/kolla-openstack/templates/ironic.conf.j2
+++ b/ansible/roles/kolla-openstack/templates/ironic.conf.j2
@@ -1,11 +1,7 @@
 # {{ ansible_managed }}
 
 [DEFAULT]
-enabled_drivers = {{ kolla_ironic_drivers | join(',') }}
-
-{% if kolla_ironic_enabled_hardware_types %}
 enabled_hardware_types: {{ kolla_ironic_enabled_hardware_types | join(',') }}
-{% endif %}
 
 {# Add configuration of enabled and default dynamic driver interfaces. #}
 {% set interfaces=['boot', 'console', 'deploy', 'inspect', 'management',
diff --git a/etc/kayobe/bifrost.yml b/etc/kayobe/bifrost.yml
index ceffb27a4..271ebdc89 100644
--- a/etc/kayobe/bifrost.yml
+++ b/etc/kayobe/bifrost.yml
@@ -34,8 +34,8 @@
 ###############################################################################
 # Ironic configuration.
 
-# Whether to enable ipmitool-based drivers.
-#kolla_bifrost_enable_ipmitool_drivers:
+# List of hardware types to enable for Bifrost's Ironic.
+#kolla_bifrost_enabled_hardware_types:
 
 ###############################################################################
 # Ironic Inspector configuration.
diff --git a/etc/kayobe/ironic.yml b/etc/kayobe/ironic.yml
index 0ee05b6cc..948cd3480 100644
--- a/etc/kayobe/ironic.yml
+++ b/etc/kayobe/ironic.yml
@@ -2,9 +2,6 @@
 ###############################################################################
 # Ironic configuration.
 
-# List of enabled Ironic drivers.
-#kolla_ironic_drivers:
-
 # Specify the list of hardware types to load during service initialization.
 #kolla_ironic_enabled_hardware_types:
 
diff --git a/releasenotes/notes/remove-ironic-drivers-939a9c6afad33e2a.yaml b/releasenotes/notes/remove-ironic-drivers-939a9c6afad33e2a.yaml
new file mode 100644
index 000000000..419b5ee9a
--- /dev/null
+++ b/releasenotes/notes/remove-ironic-drivers-939a9c6afad33e2a.yaml
@@ -0,0 +1,12 @@
+---
+upgrade:
+  - |
+    Overcloud Ironic must now be configured with the variable
+    ``kolla_ironic_enabled_hardware_types``; ``kolla_ironic_drivers`` has been
+    removed.
+  - |
+    Bifrost's ``kolla_bifrost_enable_ipmitool_drivers`` and
+    ``kolla_bifrost_enable_pxe_drivers`` variables have been removed. Bifrost
+    must now be configured by setting the variable
+    ``kolla_bifrost_enabled_hardware_types`` to be a list of hardware types to
+    enable.