diff --git a/UPGRADE-4.0.md b/UPGRADE-4.0.md
index 2849791a1..ddb93e219 100644
--- a/UPGRADE-4.0.md
+++ b/UPGRADE-4.0.md
@@ -4,6 +4,9 @@ UPGRADE FROM 3 to 4
 Configuration
 -------------
 
+The `doctrine.orm.controller_resolver.auto_mapping` only accepted `false`
+as value since 3.0 and is now removed.
+
 The `doctrine.orm.entity_managers.some_em.enable_native_lazy_objects`
 configuration option has been removed as native lazy objects are now always
 enabled.
diff --git a/src/DependencyInjection/Configuration.php b/src/DependencyInjection/Configuration.php
index 6a4708d09..fca622e4d 100644
--- a/src/DependencyInjection/Configuration.php
+++ b/src/DependencyInjection/Configuration.php
@@ -406,19 +406,6 @@ private function addOrmSection(ArrayNodeDefinition $node): void
                         ->arrayNode('controller_resolver')
                             ->canBeDisabled()
                             ->children()
-                                ->booleanNode('auto_mapping')
-                                    ->defaultFalse()
-                                    ->validate()
-                                        ->ifTrue(static fn ($v) => $v !== false)
-                                        ->thenInvalid('The setting "controller_resolver.auto_mapping" can no longer be enabled and must be set to false')
-                                    ->end()
-                                    ->setDeprecated(
-                                        'doctrine/doctrine-bundle',
-                                        '3.1',
-                                        'The "%node%" option is deprecated and will be removed in DoctrineBundle 4.0, as it only accepts `false` since 3.0.',
-                                    )
-                                    ->info('Set to true to enable using route placeholders as lookup criteria when the primary key doesn\'t match the argument name')
-                                ->end()
                                 ->booleanNode('evict_cache')
                                     ->info('Set to true to fetch the entity from the database instead of using the cache, if any')
                                     ->defaultFalse()