diff --git a/CHANGELOG.md b/CHANGELOG.md
index bca08fd6..3b1c4712 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Removed
 * Removed `FindEigen3.cmake` module (https://github.com/robotology/ycm/pull/399).
+* Removed `FindGSL.cmake`, `FindGLUT.cmake`, `FindOpenGL.cmake` and `YCMDefaultDirs.cmake`. The first three are available in CMake, while the last one has been deprecated for a long time (https://github.com/robotology/ycm/pull/401).
 
 ## [Unreleased Patch]
 
diff --git a/deprecated/CMakeLists.txt b/deprecated/CMakeLists.txt
index 4bbfa44f..e1421b0a 100644
--- a/deprecated/CMakeLists.txt
+++ b/deprecated/CMakeLists.txt
@@ -7,11 +7,11 @@ mark_as_advanced(YARP_NO_DEPRECATED)
 # Deprecated modules installed for compatibility
 if(NOT YCM_NO_DEPRECATED)
   set(YCM_DEPRECATED_FILES
-    FindGLUT.cmake
-    YCMDefaultDirs.cmake
   )
-  _ycm_install(deprecated FILES ${YCM_DEPRECATED_FILES}
-                          DESTINATION "${YCM_INSTALL_MODULE_DIR}/deprecated")
+  if(YCM_DEPRECATED_FILES)
+    _ycm_install(deprecated FILES ${YCM_DEPRECATED_FILES}
+                            DESTINATION "${YCM_INSTALL_MODULE_DIR}/deprecated")
+  endif()
 
   # Print a warning if we are overriding some module from CMake
   foreach(_module IN LISTS YCM_DEPRECATED_FILES)
diff --git a/deprecated/FindGLUT.cmake b/deprecated/FindGLUT.cmake
deleted file mode 100644
index a938528a..00000000
--- a/deprecated/FindGLUT.cmake
+++ /dev/null
@@ -1,37 +0,0 @@
-# SPDX-FileCopyrightText: 2010 RobotCub Consortium
-# SPDX-License-Identifier: BSD-3-Clause
-
-#[=======================================================================[.rst:
-FindGLUT
---------
-
-Wrap kitware's original ``FindGLUT`` script to work on windows with
-binary distribution. Standardize variables.
-
-In windows require you set ``GLUT_DIR``
-
-Set::
-
- GLUT_FOUND
- GLUT_LIBRARIES
- GLUT_INCLUDE_DIRS
-
-.. todo:: Check if this module is still needed with recent CMake releases.
-#]=======================================================================]
-
-
-include(${CMAKE_ROOT}/Modules/FindGLUT.cmake)
-
-if(NOT COMMAND _YCM_FIND_GLUT_DEPRECATED_VARIABLE_WARNING)
-  # A macro to print a warning when using deprecated variables, called by
-  # variable_watch
-  macro(_YCM_FIND_GLUT_DEPRECATED_VARIABLE_WARNING _variable)
-    message(DEPRECATION "The ${_variable} variable is deprecated. Use 'GLUT::GLUT' target instead.")
-  endmacro()
-
-  set(GLUT_INCLUDE_DIRS ${GLUT_INCLUDE_DIR})
-  variable_watch(GLUT_INCLUDE_DIRS _ycm_find_glut_deprecated_variable_warning)
-endif()
-
-
-
diff --git a/deprecated/YCMDefaultDirs.cmake b/deprecated/YCMDefaultDirs.cmake
deleted file mode 100644
index 8697fed7..00000000
--- a/deprecated/YCMDefaultDirs.cmake
+++ /dev/null
@@ -1,27 +0,0 @@
-# SPDX-FileCopyrightText: 2012-2021 Istituto Italiano di Tecnologia (IIT)
-# SPDX-License-Identifier: BSD-3-Clause
-
-#[=======================================================================[.rst:
-YCMDefaultDirs
---------------
-#]=======================================================================]
-
-
-include(${CMAKE_CURRENT_LIST_DIR}/YCMDeprecatedWarning.cmake)
-ycm_deprecated_warning("YCMDefaultDirs.cmake is deprecated.")
-
-include(GNUInstallDirs)
-
-macro(YCM_DEFAULT_DIRS _prefix)
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
-    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
-    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
-
-    set(${_prefix}_BUILD_LIBDIR ${CMAKE_INSTALL_LIBDIR})
-    set(${_prefix}_BUILD_BINDIR ${CMAKE_INSTALL_BINDIR})
-    set(${_prefix}_BUILD_INCLUDEDIR ${CMAKE_SOURCE_DIR}/src)
-
-    set(${_prefix}_INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR})
-    set(${_prefix}_INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR})
-    set(${_prefix}_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR})
-endmacro()
diff --git a/find-modules/CMakeLists.txt b/find-modules/CMakeLists.txt
index c75dff75..a5f1935f 100644
--- a/find-modules/CMakeLists.txt
+++ b/find-modules/CMakeLists.txt
@@ -14,7 +14,6 @@ set(YCM_FIND_MODULES FindACE.cmake
                      FindGLM.cmake
                      FindGooCanvas.cmake
                      FindGooCanvasMM.cmake
-                     FindGSL.cmake
                      FindGtkDatabox.cmake
                      FindGtkDataboxMM.cmake
                      FindI2C.cmake
@@ -29,7 +28,6 @@ set(YCM_FIND_MODULES FindACE.cmake
                      FindNVIDIACg.cmake
                      FindODE.cmake
                      FindOpenCV.cmake
-                     FindOpenGL.cmake
                      FindOpenNI.cmake
                      FindOpenNI2.cmake
                      FindPLXCANAPI.cmake
diff --git a/find-modules/FindGSL.cmake b/find-modules/FindGSL.cmake
deleted file mode 100644
index 88fc548c..00000000
--- a/find-modules/FindGSL.cmake
+++ /dev/null
@@ -1,121 +0,0 @@
-# SPDX-FileCopyrightText: 2012-2021 Istituto Italiano di Tecnologia (IIT)
-# SPDX-FileCopyrightText: 2010 Jan Woetzel
-# SPDX-License-Identifier: BSD-3-Clause
-
-#[=======================================================================[.rst:
-FindGSL
--------
-
-Try to find GSL library
-Once run this will define::
-
- GSL_FOUND
- GSL_INCLUDE_DIR
- GSL_INCLUDE_DIRS
- GSL_LIBRARIES
- GSL_LINK_DIRECTORIES
- GSLCBLAS_LIBRARY
- GSL_LIBRARY
-
-#]=======================================================================]
-
-##### check GSL_ROOT
-if(EXISTS "$ENV{GSL_ROOT}")
-    set(GSL_POSSIBLE_INCDIRS
-        "$ENV{GSL_ROOT}/include"
-        "$ENV{GSL_ROOT}")
-
-    set(GSL_POSSIBLE_LIBRARY_PATHS
-        "$ENV{GSL_ROOT}/Release"
-        "$ENV{GSL_ROOT}/lib")
-endif(EXISTS "$ENV{GSL_ROOT}")
-
-##### check GSL_DIR
-if(EXISTS "$ENV{GSL_DIR}")
-    set(GSL_POSSIBLE_INCDIRS
-        "$ENV{GSL_DIR}/include"
-        "$ENV{GSL_DIR}")
-
-    set(GSL_POSSIBLE_LIBRARY_PATHS
-        "$ENV{GSL_DIR}/lib"
-        "$ENV{GSL_DIR}/Release")
-endif(EXISTS "$ENV{GSL_DIR}")
-
-if(GSL_DIR)
-    set(GSL_POSSIBLE_INCDIRS
-        "${GSL_DIR}/include"
-        "${GSL_DIR}")
-
-    set(GSL_POSSIBLE_LIBRARY_PATHS
-        "${GSL_DIR}/lib"
-        "${GSL_DIR}/Release")
-endif(GSL_DIR)
-
-find_path(GSL_BLAS_HEADER gsl/gsl_blas.h
-          ${GSL_POSSIBLE_INCDIRS}
-          /usr/include
-          /usr/local/include)
-
-find_library(GSL_LIBRARY
-             NAMES libgsl libgsl.lib gsl
-             PATHS ${GSL_POSSIBLE_LIBRARY_PATHS}
-                   /usr/lib
-                   /usr/local/lib
-             DOC "Location of the gsl lib")
-
-find_library(GSLCBLAS_LIBRARY
-             NAMES libgslcblas libgslcblas.lib gslcblas
-             PATHS ${GSL_POSSIBLE_LIBRARY_PATHS}
-                   /usr/lib
-                   /usr/local/lib
-             DOC "Location of the gsl lib")
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(GSL
-                                  DEFAULT_MSG
-                                  GSL_LIBRARY
-                                  GSLCBLAS_LIBRARY
-                                  GSL_BLAS_HEADER
-)
-
-if(GSL_FOUND)
-    set(GSL_INCLUDE_DIR "${GSL_BLAS_HEADER}")
-    set(GSL_INCLUDE_DIRS "${GSL_BLAS_HEADER}")
-    set(GSL_LINK_DIRECTORIES "$ENV{GSL_ROOT}/lib")
-    set(GSL_LIBRARIES "${GSL_LIBRARY}")
-    set(GSL_LIBRARIES "${GSL_LIBRARIES}" "${GSLCBLAS_LIBRARY}")
-    set(GSL_FOUND ON)
-    set(GSL_DIR "$ENV{GSL_ROOT}")
-endif()
-
-set(GSL_MARK)
-
-
-if(GSL_FOUND)
-    # nothing to say
-    if(NOT GSL_DIR)
-        mark_as_advanced(GSL_DIR)
-    endif(NOT GSL_DIR)
-else(GSL_FOUND)
-    set(GSL_DIR "" CACHE PATH "Location of GSL")
-    if(GSL_FIND_REQUIRED OR GSL_DIR)
-        set(GSL_MARK CLEAR)
-        message(FATAL_ERROR "GSL library or headers not found. Please search manually or set env. variable GSL_DIR to guide search." )
-    endif(GSL_FIND_REQUIRED OR GSL_DIR)
-endif(GSL_FOUND)
-
-mark_as_advanced(${GSL_MARK}
-                 GSL_INCLUDE_DIR
-                 GSL_INCLUDE_DIRS
-                 GSL_LINK_DIRECTORIES
-                 GSL_LIBRARIES
-                 GSLCBLAS_LIBRARIES
-                 GSLCBLAS_LIBRARY
-                 GSL_BLAS_HEADER
-                 GSL_LIBRARY)
-
-# Set package properties if FeatureSummary was included
-if(COMMAND set_package_properties)
-    set_package_properties(GSL PROPERTIES DESCRIPTION "GNU Scientific Library, a numerical library for C and C++ programmers"
-                                          URL "https://www.gnu.org/software/gsl/")
-endif()
diff --git a/find-modules/FindOpenGL.cmake b/find-modules/FindOpenGL.cmake
deleted file mode 100644
index 619e4aa3..00000000
--- a/find-modules/FindOpenGL.cmake
+++ /dev/null
@@ -1,42 +0,0 @@
-# SPDX-FileCopyrightText: 2012-2021 Istituto Italiano di Tecnologia (IIT)
-# SPDX-FileCopyrightText: 2010 RobotCub Consortium
-# SPDX-License-Identifier: BSD-3-Clause
-
-#[=======================================================================[.rst:
-FindOpenGL
-----------
-
-Wrap kitware's original FindOpenGL. Standardize variables.
-
-In windows require you set ``OpenGL_DIR``
-
-Set::
-
- OpenGL_FOUND
- OpenGL_LIBRARIES
- OpenGL_INCLUDE_DIRS
-
-.. todo:: Check if this module is still needed with recent CMake releases.
-#]=======================================================================]
-
-# Save current CMAKE_MODULE_PATH, disable it 
-# to avoid recursive calls to FindGLUT
-set(_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
-set(CMAKE_MODULE_PATH "")
-
-set(OpenGL_DIR $ENV{OpenGL_DIR})
-
-if(OpenGL_DIR)
-  message(${OpenGL_DIR})
-endif(OpenGL_DIR)
-
-find_package(OpenGL)
-
-if(OPENGL_FOUND)
-  set(OpenGL_FOUND TRUE)
-  set(OpenGL_INCLUDE_DIRS ${OPENGL_INCLUDE_DIR})
-  set(OpenGL_LIBRARIES ${OPENGL_LIBRARIES})
-endif(OPENGL_FOUND)
-
-# Push back original CMAKE_MODULE_PATH
-set(CMAKE_MODULE_PATH ${_CMAKE_MODULE_PATH})