diff --git a/haystack/core/pipeline/pipeline.py b/haystack/core/pipeline/pipeline.py
index a97e5dcc56..c863f1f1ce 100644
--- a/haystack/core/pipeline/pipeline.py
+++ b/haystack/core/pipeline/pipeline.py
@@ -270,12 +270,7 @@ def run(  # noqa: PLR0915, PLR0912, C901, pylint: disable=too-many-branches
             include_outputs_from = pipeline_snapshot.include_outputs_from
 
             # also intermediate_outputs from the snapshot when resuming
-            # keep the deserialization of pipeline_outputs backwards compatible with the old pipeline_outputs format
-            # TODO: remove this in haystack 2.23.0
-            if "serialization_schema" not in pipeline_snapshot.pipeline_state.pipeline_outputs.keys():
-                pipeline_outputs = pipeline_snapshot.pipeline_state.pipeline_outputs
-            else:
-                pipeline_outputs = _deserialize_value_with_schema(pipeline_snapshot.pipeline_state.pipeline_outputs)
+            pipeline_outputs = _deserialize_value_with_schema(pipeline_snapshot.pipeline_state.pipeline_outputs)
 
         cached_topological_sort = None
         # We need to access a component's receivers multiple times during a pipeline run.
diff --git a/releasenotes/notes/remove-legacy-pipeline-outputs-deserialization-5acccb0245b84890.yaml b/releasenotes/notes/remove-legacy-pipeline-outputs-deserialization-5acccb0245b84890.yaml
new file mode 100644
index 0000000000..3b56acae20
--- /dev/null
+++ b/releasenotes/notes/remove-legacy-pipeline-outputs-deserialization-5acccb0245b84890.yaml
@@ -0,0 +1,8 @@
+---
+upgrade:
+  - |
+    Remove backward-compatibility support for deserializing pipeline snapshots with
+    the old ``pipeline_outputs`` format. Pipeline snapshots created before Haystack 2.22.0
+    that contain ``pipeline_outputs`` without the ``serialization_schema`` and ``serialized_data``
+    structure are no longer supported. Users should recreate their pipeline snapshots
+    with the current Haystack version before upgrading to 2.23.0.
diff --git a/test/core/pipeline/test_breakpoint.py b/test/core/pipeline/test_breakpoint.py
index 36ce453c6e..62f2a9ffd1 100644
--- a/test/core/pipeline/test_breakpoint.py
+++ b/test/core/pipeline/test_breakpoint.py
@@ -127,37 +127,6 @@ def run(self, input_value: str) -> dict[str, str]:
         assert loaded_snapshot.break_point.visit_count == 0
 
 
-def test_load_pipeline_snapshot_with_old_pipeline_outputs_format(tmp_path):
-    "Test to ensure backwards compatibility with the old pipeline_outputs format"
-    # TODO: remove this test in haystack 2.23.0
-    pipeline_snapshot = {
-        "pipeline_state": {
-            "inputs": {
-                "serialization_schema": {
-                    "type": "object",
-                    "properties": {"comp2": {"type": "object", "properties": {}}},
-                },
-                "serialized_data": {"comp2": {}},
-            },
-            "component_visits": {"comp1": 1, "comp2": 0},
-            "pipeline_outputs": {"comp1": {"result": "Answer from comp1"}},
-        },
-        "break_point": {"component_name": "comp2", "visit_count": 0, "snapshot_file_path": "test_breakpoints"},
-        "agent_snapshot": None,
-        "timestamp": "2025-12-01T17:14:24.366124",
-        "original_input_data": {"serialization_schema": {"type": "object", "properties": {}}, "serialized_data": {}},
-        "ordered_component_names": ["comp1", "comp2"],
-        "include_outputs_from": ["comp1"],
-    }
-
-    pipeline_snapshot_file = tmp_path / "old_pipeline_outputs_format.json"
-    with open(pipeline_snapshot_file, "w") as f:
-        json.dump(pipeline_snapshot, f)
-
-    loaded_snapshot = load_pipeline_snapshot(pipeline_snapshot_file)
-    assert loaded_snapshot == PipelineSnapshot.from_dict(pipeline_snapshot)
-
-
 class TestCreatePipelineSnapshot:
     def test_create_pipeline_snapshot_all_fields(self):
         break_point = Breakpoint(component_name="comp2")