diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9c3c2153776..1475f9bc0ad 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -30,6 +30,7 @@
   - Deprecated `receiverhelper.WithMetrics` in favour of `component.WithMetricsReceiver`
   - Deprecated `receiverhelper.WithLogs` in favour of `component.WithLogsReceiver`
   - Deprecated `receiverhelper.NewFactory` in favour of `component.NewReceiverFactory`
+- Remove support for legacy otlp/http port. (#4916)
 
 ### 💡 Enhancements 💡
 
diff --git a/receiver/otlpreceiver/factory.go b/receiver/otlpreceiver/factory.go
index ca4dc3ec3e3..707ace1beae 100644
--- a/receiver/otlpreceiver/factory.go
+++ b/receiver/otlpreceiver/factory.go
@@ -31,7 +31,6 @@ const (
 
 	defaultGRPCEndpoint = "0.0.0.0:4317"
 	defaultHTTPEndpoint = "0.0.0.0:4318"
-	legacyHTTPEndpoint  = "0.0.0.0:55681"
 )
 
 // NewFactory creates a new OTLP receiver factory.
diff --git a/receiver/otlpreceiver/otlp.go b/receiver/otlpreceiver/otlp.go
index 35a735a7b9c..94a64d8425b 100644
--- a/receiver/otlpreceiver/otlp.go
+++ b/receiver/otlpreceiver/otlp.go
@@ -143,22 +143,6 @@ func (r *otlpReceiver) startProtocolServers(host component.Host) error {
 		if err != nil {
 			return err
 		}
-		if r.cfg.HTTP.Endpoint == defaultHTTPEndpoint {
-			r.settings.Logger.Info("Setting up a second HTTP listener on legacy endpoint " + legacyHTTPEndpoint)
-
-			// Copy the config.
-			cfgLegacyHTTP := *(r.cfg.HTTP)
-			// And use the legacy endpoint.
-			cfgLegacyHTTP.Endpoint = legacyHTTPEndpoint
-			err = r.startHTTPServer(&cfgLegacyHTTP, host)
-			if err != nil {
-				return err
-			}
-		}
-		if r.cfg.HTTP.Endpoint == legacyHTTPEndpoint {
-			r.settings.Logger.Warn(fmt.Sprintf("Legacy HTTP endpoint %v is configured, please use %v instead.",
-				legacyHTTPEndpoint, defaultHTTPEndpoint))
-		}
 	}
 
 	return err
diff --git a/receiver/otlpreceiver/otlp_test.go b/receiver/otlpreceiver/otlp_test.go
index b404627d9e5..4fba3596a56 100644
--- a/receiver/otlpreceiver/otlp_test.go
+++ b/receiver/otlpreceiver/otlp_test.go
@@ -24,14 +24,11 @@ import (
 	"io/ioutil"
 	"net"
 	"net/http"
-	"strings"
 	"testing"
 	"time"
 
 	"github.com/stretchr/testify/assert"
 	"github.com/stretchr/testify/require"
-	"go.uber.org/zap"
-	"go.uber.org/zap/zaptest/observer"
 	spb "google.golang.org/genproto/googleapis/rpc/status"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
@@ -49,7 +46,6 @@ import (
 	"go.opentelemetry.io/collector/consumer"
 	"go.opentelemetry.io/collector/consumer/consumertest"
 	"go.opentelemetry.io/collector/internal/internalconsumertest"
-	"go.opentelemetry.io/collector/internal/sharedcomponent"
 	"go.opentelemetry.io/collector/internal/testdata"
 	"go.opentelemetry.io/collector/internal/testutil"
 	"go.opentelemetry.io/collector/model/otlp"
@@ -770,41 +766,6 @@ func TestHTTPInvalidTLSCredentials(t *testing.T) {
 		`failed to load TLS config: for auth via TLS, either both certificate and key must be supplied, or neither`)
 }
 
-func TestHTTPUseLegacyPortWhenUsingDefaultEndpoint(t *testing.T) {
-	r := newHTTPReceiver(t, defaultHTTPEndpoint, consumertest.NewNop(), consumertest.NewNop())
-	require.NotNil(t, r)
-
-	logCore, logs := observer.New(zap.InfoLevel)
-	logger := zap.New(logCore)
-
-	metric := r.(*sharedcomponent.SharedComponent).Unwrap().(*otlpReceiver)
-	metric.settings.Logger = logger
-
-	t.Cleanup(func() { require.NoError(t, r.Shutdown(context.Background())) })
-
-	require.NoError(t, r.Start(context.Background(), componenttest.NewNopHost()))
-
-	require.True(t, func() bool {
-		for _, l := range logs.All() {
-			if strings.Contains(l.Message, "Setting up a second HTTP listener on legacy endpoint 0.0.0.0:55681") {
-				return true
-			}
-		}
-		return false
-	}())
-
-	require.False(t, func() bool {
-		for _, l := range logs.All() {
-			if strings.Contains(l.Message, "Legacy HTTP endpoint 0.0.0.0:55681 is configured, please use 0.0.0.0:4318 instead.") {
-				return true
-			}
-		}
-		return false
-	}())
-
-	require.Equal(t, defaultHTTPEndpoint, metric.cfg.HTTP.Endpoint)
-}
-
 func testHTTPMaxRequestBodySizeJSON(t *testing.T, payload []byte, size int, expectedStatusCode int) {
 	endpoint := testutil.GetAvailableLocalAddress(t)
 	url := fmt.Sprintf("http://%s/v1/traces", endpoint)