diff --git a/src/Http/Http/src/Internal/ApplicationBuilder.cs b/src/Http/Http/src/Internal/ApplicationBuilder.cs
index 33c8880315..483dbee1e6 100644
--- a/src/Http/Http/src/Internal/ApplicationBuilder.cs
+++ b/src/Http/Http/src/Internal/ApplicationBuilder.cs
@@ -90,7 +90,7 @@ namespace Microsoft.AspNetCore.Builder.Internal
                     var message =
                         $"The request reached the end of the pipeline without executing the endpoint: '{endpoint.DisplayName}'. " +
                         $"Please register the EndpointMiddleware using '{nameof(IApplicationBuilder)}.UseEndpoints(...)' if using " +
-                        $"routing, or '{nameof(IApplicationBuilder)}.UseEndpointExecutor()' if not using routing.";
+                        $"routing.";
                     throw new InvalidOperationException(message);
                 }
 
diff --git a/src/Http/Http/test/Internal/ApplicationBuilderTests.cs b/src/Http/Http/test/Internal/ApplicationBuilderTests.cs
index ec03ea94f0..7e3c7f80c0 100644
--- a/src/Http/Http/test/Internal/ApplicationBuilderTests.cs
+++ b/src/Http/Http/test/Internal/ApplicationBuilderTests.cs
@@ -46,7 +46,7 @@ namespace Microsoft.AspNetCore.Builder.Internal
             var expected =
                 "The request reached the end of the pipeline without executing the endpoint: 'Test endpoint'. " +
                 "Please register the EndpointMiddleware using 'IApplicationBuilder.UseEndpoints(...)' if " +
-                "using routing, or 'IApplicationBuilder.UseEndpointExecutor()' if not using routing.";
+                "using routing.";
             Assert.Equal(expected, ex.Message);
             Assert.False(endpointCalled);
         }
diff --git a/src/Http/Routing/ref/Microsoft.AspNetCore.Routing.netcoreapp3.0.cs b/src/Http/Routing/ref/Microsoft.AspNetCore.Routing.netcoreapp3.0.cs
index 9ca47cf13e..cd5eabe1a7 100644
--- a/src/Http/Routing/ref/Microsoft.AspNetCore.Routing.netcoreapp3.0.cs
+++ b/src/Http/Routing/ref/Microsoft.AspNetCore.Routing.netcoreapp3.0.cs
@@ -15,7 +15,6 @@ namespace Microsoft.AspNetCore.Builder
     }
     public static partial class EndpointRoutingApplicationBuilderExtensions
     {
-        public static Microsoft.AspNetCore.Builder.IApplicationBuilder UseEndpointExecutor(this Microsoft.AspNetCore.Builder.IApplicationBuilder builder) { throw null; }
         public static Microsoft.AspNetCore.Builder.IApplicationBuilder UseEndpoints(this Microsoft.AspNetCore.Builder.IApplicationBuilder builder, System.Action<Microsoft.AspNetCore.Routing.IEndpointRouteBuilder> configure) { throw null; }
         public static Microsoft.AspNetCore.Builder.IApplicationBuilder UseRouting(this Microsoft.AspNetCore.Builder.IApplicationBuilder builder) { throw null; }
     }
diff --git a/src/Http/Routing/src/Builder/EndpointRoutingApplicationBuilderExtensions.cs b/src/Http/Routing/src/Builder/EndpointRoutingApplicationBuilderExtensions.cs
index a253c700de..b60a87c432 100644
--- a/src/Http/Routing/src/Builder/EndpointRoutingApplicationBuilderExtensions.cs
+++ b/src/Http/Routing/src/Builder/EndpointRoutingApplicationBuilderExtensions.cs
@@ -103,31 +103,6 @@ namespace Microsoft.AspNetCore.Builder
             return builder.UseMiddleware<EndpointMiddleware>();
         }
 
-        /// <summary>
-        /// Adds a <see cref="EndpointMiddleware"/> middleware to the specified <see cref="IApplicationBuilder"/> that will
-        /// execute the <see cref="Endpoint"/> associated with the current request.
-        /// </summary>
-        /// <param name="builder">The <see cref="IApplicationBuilder"/> to add the middleware to.</param>
-        /// <returns>A reference to this instance after the operation has completed.</returns>
-        /// <remarks>
-        /// <para>
-        /// A call to <see cref="UseEndpointExecutor(IApplicationBuilder)"/> may be used to execute an endpoint with
-        /// using <see cref="UseRouting(IApplicationBuilder)" />. This enables applications to use endpoints with other
-        /// middleware not related to routing.
-        /// </para>
-        /// </remarks>
-        public static IApplicationBuilder UseEndpointExecutor(this IApplicationBuilder builder)
-        {
-            if (builder == null)
-            {
-                throw new ArgumentNullException(nameof(builder));
-            }
-
-            // Note: we don't require routing services either.
-
-            return builder.UseMiddleware<EndpointMiddleware>();
-        }
-
         private static void VerifyRoutingServicesAreRegistered(IApplicationBuilder app)
         {
             // Verify if AddRouting was done before calling UseEndpointRouting/UseEndpoint
diff --git a/src/Http/Routing/test/UnitTests/Builder/EndpointRoutingApplicationBuilderExtensionsTest.cs b/src/Http/Routing/test/UnitTests/Builder/EndpointRoutingApplicationBuilderExtensionsTest.cs
index 0da1e56bdb..9a6f3df066 100644
--- a/src/Http/Routing/test/UnitTests/Builder/EndpointRoutingApplicationBuilderExtensionsTest.cs
+++ b/src/Http/Routing/test/UnitTests/Builder/EndpointRoutingApplicationBuilderExtensionsTest.cs
@@ -295,37 +295,6 @@ namespace Microsoft.AspNetCore.Builder
                 e => Assert.Equal("Test endpoint 4", e.DisplayName));
         }
 
-        [Fact]
-        public async Task UseEndpointExecutor_RunsEndpoint()
-        {
-            // Arrange
-            var services = CreateServices();
-
-            var endpointRan = false;
-            var app = new ApplicationBuilder(services);
-
-            app.Use(next => context =>
-            {
-                context.SetEndpoint(new Endpoint(c =>
-                {
-                    endpointRan = true;
-                    return Task.CompletedTask;
-                }, new EndpointMetadataCollection(), "Test"));
-                return next(context);
-            });
-
-            app.UseEndpointExecutor(); // No services required, no UseRouting required
-
-            var appFunc = app.Build();
-            var httpContext = new DefaultHttpContext();
-
-            // Act
-            await appFunc(httpContext);
-
-            // Assert
-            Assert.True(endpointRan);
-        }
-
         private IServiceProvider CreateServices()
         {
             return CreateServices(matcherFactory: null);