diff --git a/scrapy/utils/url.py b/scrapy/utils/url.py
index 1c05ac20e..8f75e2618 100644
--- a/scrapy/utils/url.py
+++ b/scrapy/utils/url.py
@@ -6,34 +6,10 @@ library.
 from __future__ import annotations
 
 import re
-import warnings
-from importlib import import_module
-from typing import TYPE_CHECKING, Any, TypeAlias
+from typing import TYPE_CHECKING, TypeAlias
 from urllib.parse import ParseResult, urlparse, urlunparse
 
-from w3lib.url import __all__ as _public_w3lib_objects
-from w3lib.url import any_to_uri as _any_to_uri
-from w3lib.url import parse_url as _parse_url
-
-from scrapy.exceptions import ScrapyDeprecationWarning
-
-_DEPRECATED_NAMES: frozenset[str] = frozenset(
-    {"_unquotepath", "_safe_chars", "parse_url", *_public_w3lib_objects}
-)
-
-
-def __getattr__(name: str) -> Any:
-    if name in _DEPRECATED_NAMES:
-        obj_type = "attribute" if name == "_safe_chars" else "function"
-        warnings.warn(
-            f"The scrapy.utils.url.{name} {obj_type} is deprecated, use w3lib.url.{name} instead.",
-            ScrapyDeprecationWarning,
-            stacklevel=2,
-        )
-        return getattr(import_module("w3lib.url"), name)
-
-    raise AttributeError
-
+from w3lib.url import any_to_uri, parse_url
 
 if TYPE_CHECKING:
     from collections.abc import Iterable
@@ -45,7 +21,7 @@ UrlT: TypeAlias = str | bytes | ParseResult
 
 def url_is_from_any_domain(url: UrlT, domains: Iterable[str]) -> bool:
     """Return True if the url belongs to any of the given domains"""
-    host = _parse_url(url).netloc.lower()
+    host = parse_url(url).netloc.lower()
     if not host:
         return False
     return any((host == d) or (host.endswith(f".{d}")) for d in map(str.lower, domains))
@@ -64,7 +40,7 @@ def url_is_from_spider(url: UrlT, spider: type[Spider]) -> bool:
 
 def url_has_any_extension(url: UrlT, extensions: Iterable[str]) -> bool:
     """Return True if the url ends with one of the extensions provided"""
-    lowercase_path = _parse_url(url).path.lower()
+    lowercase_path = parse_url(url).path.lower()
     return any(lowercase_path.endswith(ext) for ext in extensions)
 
 
@@ -125,7 +101,7 @@ def guess_scheme(url: str) -> str:
     """Add an URL scheme if missing: file:// for filepath-like input or
     http:// otherwise."""
     if _is_filesystem_path(url):
-        return _any_to_uri(url)
+        return any_to_uri(url)
     return add_http_if_no_scheme(url)
 
 
diff --git a/tests/test_utils_url.py b/tests/test_utils_url.py
index bcbbe74a3..19a31c353 100644
--- a/tests/test_utils_url.py
+++ b/tests/test_utils_url.py
@@ -1,13 +1,9 @@
-import warnings
-from importlib import import_module
-
 import pytest
 
 from scrapy.linkextractors import IGNORED_EXTENSIONS
 from scrapy.spiders import Spider
-from scrapy.utils.url import (  # type: ignore[attr-defined]
+from scrapy.utils.url import (
     _is_filesystem_path,
-    _public_w3lib_objects,
     add_http_if_no_scheme,
     guess_scheme,
     strip_url,
@@ -446,23 +442,3 @@ class TestStripUrl:
 )
 def test__is_filesystem_path(path: str, expected: bool) -> None:
     assert _is_filesystem_path(path) == expected
-
-
-@pytest.mark.parametrize(
-    "obj_name",
-    [
-        "_unquotepath",
-        "_safe_chars",
-        "parse_url",
-        *_public_w3lib_objects,
-    ],
-)
-def test_deprecated_imports_from_w3lib(obj_name: str) -> None:
-    with warnings.catch_warnings(record=True) as warns:
-        obj_type = "attribute" if obj_name == "_safe_chars" else "function"
-        message = f"The scrapy.utils.url.{obj_name} {obj_type} is deprecated, use w3lib.url.{obj_name} instead."
-
-        getattr(import_module("scrapy.utils.url"), obj_name)
-
-        assert isinstance(warns[0].message, Warning)
-        assert message in warns[0].message.args