diff --git a/qiskit/visualization/circuit/circuit_visualization.py b/qiskit/visualization/circuit/circuit_visualization.py
index f8cc4bc839..a2b5e25674 100644
--- a/qiskit/visualization/circuit/circuit_visualization.py
+++ b/qiskit/visualization/circuit/circuit_visualization.py
@@ -649,20 +649,15 @@ def _matplotlib_circuit_drawer(
         qubits,
         clbits,
         nodes,
+        circuit,
         scale=scale,
         style=style,
         reverse_bits=reverse_bits,
         plot_barriers=plot_barriers,
-        layout=None,
         fold=fold,
         ax=ax,
         initial_state=initial_state,
         cregbundle=cregbundle,
-        global_phase=None,
-        calibrations=None,
-        qregs=None,
-        cregs=None,
         with_layout=with_layout,
-        circuit=circuit,
     )
     return qcd.draw(filename)
diff --git a/qiskit/visualization/circuit/matplotlib.py b/qiskit/visualization/circuit/matplotlib.py
index 155afff437..b1b04ca660 100644
--- a/qiskit/visualization/circuit/matplotlib.py
+++ b/qiskit/visualization/circuit/matplotlib.py
@@ -20,8 +20,7 @@ from warnings import warn
 
 import numpy as np
 
-from qiskit.circuit import ControlledGate, Qubit, Clbit, ClassicalRegister
-from qiskit.circuit import Measure, QuantumCircuit, QuantumRegister
+from qiskit.circuit import ControlledGate, Qubit, Clbit, ClassicalRegister, Measure
 from qiskit.circuit.library.standard_gates import (
     SwapGate,
     RZZGate,
@@ -69,21 +68,16 @@ class MatplotlibDrawer:
         qubits,
         clbits,
         nodes,
+        circuit,
         scale=None,
         style=None,
         reverse_bits=False,
         plot_barriers=True,
-        layout=None,
         fold=25,
         ax=None,
         initial_state=False,
         cregbundle=None,
-        global_phase=None,
-        qregs=None,
-        cregs=None,
-        calibrations=None,
         with_layout=False,
-        circuit=None,
     ):
         from matplotlib import patches
         from matplotlib import pyplot as plt
@@ -91,65 +85,7 @@ class MatplotlibDrawer:
         self._patches_mod = patches
         self._plt_mod = plt
 
-        if qregs is not None:
-            warn(
-                "The 'qregs' kwarg to the MatplotlibDrawer class is deprecated "
-                "as of 0.20.0 and will be removed no earlier than 3 months "
-                "after the release date.",
-                DeprecationWarning,
-                2,
-            )
-        if cregs is not None:
-            warn(
-                "The 'cregs' kwarg to the MatplotlibDrawer class is deprecated "
-                "as of 0.20.0 and will be removed no earlier than 3 months "
-                "after the release date.",
-                DeprecationWarning,
-                2,
-            )
-        if global_phase is not None:
-            warn(
-                "The 'global_phase' kwarg to the MatplotlibDrawer class is deprecated "
-                "as of 0.20.0 and will be removed no earlier than 3 months "
-                "after the release date.",
-                DeprecationWarning,
-                2,
-            )
-        if layout is not None:
-            warn(
-                "The 'layout' kwarg to the MatplotlibDrawer class is deprecated "
-                "as of 0.20.0 and will be removed no earlier than 3 months "
-                "after the release date.",
-                DeprecationWarning,
-                2,
-            )
-        if calibrations is not None:
-            warn(
-                "The 'calibrations' kwarg to the MatplotlibDrawer class is deprecated "
-                "as of 0.20.0 and will be removed no earlier than 3 months "
-                "after the release date.",
-                DeprecationWarning,
-                2,
-            )
-        # This check should be removed when the 5 deprecations above are removed
-        if circuit is None:
-            warn(
-                "The 'circuit' kwarg to the MaptlotlibDrawer class must be a valid "
-                "QuantumCircuit and not None. A new circuit is being created using "
-                "the qubits and clbits for rendering the drawing.",
-                DeprecationWarning,
-                2,
-            )
-            circ = QuantumCircuit(qubits, clbits)
-            for reg in qregs:
-                bits = [qubits[circ._qubit_indices[q].index] for q in reg]
-                circ.add_register(QuantumRegister(None, reg.name, list(bits)))
-            for reg in cregs:
-                bits = [clbits[circ._clbit_indices[q].index] for q in reg]
-                circ.add_register(ClassicalRegister(None, reg.name, list(bits)))
-            self._circuit = circ
-        else:
-            self._circuit = circuit
+        self._circuit = circuit
         self._qubits = qubits
         self._clbits = clbits
         self._qubits_dict = {}
diff --git a/releasenotes/notes/remove-deprecated-mpl-drawer-9d6eaa40d5a86777.yaml b/releasenotes/notes/remove-deprecated-mpl-drawer-9d6eaa40d5a86777.yaml
new file mode 100644
index 0000000000..59d8cef6d5
--- /dev/null
+++ b/releasenotes/notes/remove-deprecated-mpl-drawer-9d6eaa40d5a86777.yaml
@@ -0,0 +1,10 @@
+---
+upgrade:
+  - |
+    In the internal ``qiskit.visualization.circuit.matplotlib.MatplotlibDrawer`` object, the arguments
+    ``layout``, ``global_phase``, ``qregs`` and ``cregs`` have been removed. They were originally
+    deprecated in Qiskit Terra 0.20. These objects are simply inferred from the given ``circuit``
+    now.
+        
+    This is an internal worker class of the visualization routines. It is unlikely you will
+    need to change any of your code.