diff --git a/components/freertos/esp_additions/include/freertos/idf_additions.h b/components/freertos/esp_additions/include/freertos/idf_additions.h
index 5e50dd1ba3..33e01469f8 100644
--- a/components/freertos/esp_additions/include/freertos/idf_additions.h
+++ b/components/freertos/esp_additions/include/freertos/idf_additions.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -628,32 +628,6 @@ void vStreamBufferGenericDeleteWithCaps( StreamBufferHandle_t xStreamBuffer,
 
 #endif /* configSUPPORT_STATIC_ALLOCATION == 1 */
 
-
-/* --------------------------------------------------- Deprecated ------------------------------------------------------
- * Deprecated IDF FreeRTOS API additions.
- * Todo: Remove in v6.0 (IDF-8499)
- * ------------------------------------------------------------------------------------------------------------------ */
-
-/** @cond */
-static inline __attribute__( ( always_inline, deprecated( "This function is deprecated and will be removed in ESP-IDF 6.0. Please use xTaskGetCoreID() instead." ) ) )
-BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
-{
-    return xTaskGetCoreID( xTask );
-}
-
-static inline __attribute__( ( always_inline, deprecated( "This function is deprecated and will be removed in ESP-IDF 6.0. Please use xTaskGetIdleTaskHandleForCore() instead." ) ) )
-TaskHandle_t xTaskGetIdleTaskHandleForCPU( BaseType_t xCoreID )
-{
-    return xTaskGetIdleTaskHandleForCore( xCoreID );
-}
-
-static inline __attribute__( ( always_inline, deprecated( "This function is deprecated and will be removed in ESP-IDF 6.0. Please use xTaskGetCurrentTaskHandleForCore() instead." ) ) )
-TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID )
-{
-    return xTaskGetCurrentTaskHandleForCore( xCoreID );
-}
-/** @endcond */
-
 /* *INDENT-OFF* */
 #ifdef __cplusplus
     }
diff --git a/docs/en/migration-guides/release-6.x/6.0/system.rst b/docs/en/migration-guides/release-6.x/6.0/system.rst
index 9fb82ecde6..353b1a5b2e 100644
--- a/docs/en/migration-guides/release-6.x/6.0/system.rst
+++ b/docs/en/migration-guides/release-6.x/6.0/system.rst
@@ -56,3 +56,12 @@ App Trace
 ----------
 
 Removed extra data buffering option. `CONFIG_APPTRACE_PENDING_DATA_SIZE_MAX` is no longer supported.
+
+FreeRTOS
+--------
+
+The following deprecated FreeRTOS functions have been removed in ESP-IDF v6.0:
+
+- :cpp:func:`xTaskGetAffinity` - Use :cpp:func:`xTaskGetCoreID` instead
+- :cpp:func:`xTaskGetIdleTaskHandleForCPU` - Use :cpp:func:`xTaskGetIdleTaskHandleForCore` instead
+- :cpp:func:`xTaskGetCurrentTaskHandleForCPU` - Use :cpp:func:`xTaskGetCurrentTaskHandleForCore` instead
diff --git a/docs/zh_CN/migration-guides/release-6.x/6.0/system.rst b/docs/zh_CN/migration-guides/release-6.x/6.0/system.rst
index f807e0b330..8168dc92d7 100644
--- a/docs/zh_CN/migration-guides/release-6.x/6.0/system.rst
+++ b/docs/zh_CN/migration-guides/release-6.x/6.0/system.rst
@@ -36,3 +36,12 @@ Xtensa 特殊寄存器头文件已更新，使用新的命名约定。旧的 ``s
     if (causes & BIT(ESP_SLEEP_WAKEUP_TIMER)) {
         handle_timer_wakeup();
     }
+
+FreeRTOS
+--------
+
+以下已弃用的 FreeRTOS 函数已在 ESP-IDF v6.0 中移除：
+
+- :cpp:func:`xTaskGetAffinity` - 请使用 :cpp:func:`xTaskGetCoreID` 替代
+- :cpp:func:`xTaskGetIdleTaskHandleForCPU` - 请使用 :cpp:func:`xTaskGetIdleTaskHandleForCore` 替代
+- :cpp:func:`xTaskGetCurrentTaskHandleForCPU` - 请使用 :cpp:func:`xTaskGetCurrentTaskHandleForCore` 替代