diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7278fc02..8e8f4cb1d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -98,14 +98,14 @@ endif()
 # fallback to look for OGRE2 without it. Both seems to works for gz-rendering.
 # See https://github.com/gazebosim/gz-rendering/issues/597
 gz_find_package(GzOGRE2 VERSION 2.3.1
-    COMPONENTS HlmsPbs HlmsUnlit Overlay PlanarReflections
+    COMPONENTS HlmsPbs HlmsUnlit PlanarReflections
     PRIVATE_FOR ogre2
     QUIET)
 
 if ("${OGRE2-PlanarReflections}" STREQUAL "OGRE2-PlanarReflections-NOTFOUND")
   message(STATUS "PlanarReflections component was not found. Try looking without it:")
   gz_find_package(GzOGRE2 VERSION 2.3.1
-    COMPONENTS HlmsPbs HlmsUnlit Overlay
+    COMPONENTS HlmsPbs HlmsUnlit
     REQUIRED_BY ogre2
     PRIVATE_FOR ogre2)
 endif()
diff --git a/Migration.md b/Migration.md
index 07f21902d..e6fa26a09 100644
--- a/Migration.md
+++ b/Migration.md
@@ -5,6 +5,19 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Gazebo Rendering 10.x to 11.x
+
+### Removals
+
+The dependency on ogre2's Overlay component is removed, mainly due to:
+https://github.com/OGRECave/ogre-next/issues/541.
+The `Ogre::v1::OverlaySystem` was not used internally and the
+relevant API was always marked as internal so it is removed in
+gz-rendering11 instead of going through the tick-tock deprecation cycle.
+
+1. **Ogre2RenderEngine**
+    + Removed: `Ogre::v1::OverlaySystem *OverlaySystem() const`
+
 ## Gazebo Rendering 9.x to 10.x
 
 ### Deprecations
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2Includes.hh b/ogre2/include/gz/rendering/ogre2/Ogre2Includes.hh
index f5c04839b..7c10c5e75 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2Includes.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2Includes.hh
@@ -96,13 +96,6 @@
 #include <Compositor/Pass/PassScene/OgreCompositorPassScene.h>
 #include <Compositor/Pass/PassScene/OgreCompositorPassSceneDef.h>
 
-#include <Overlay/OgreOverlayPrerequisites.h>
-#include <Overlay/OgreOverlayManager.h>
-#include <Overlay/OgreOverlayElement.h>
-#include <Overlay/OgreOverlayContainer.h>
-#include <Overlay/OgreFontManager.h>
-#include <Overlay/OgreOverlaySystem.h>
-
 // TODO(anyone): enable when ogre 2.1 fully supports paging
 // and terrain components
 // #include <Paging/OgrePageManager.h>
diff --git a/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh b/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
index 9223385d6..5c78bc2fb 100644
--- a/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
+++ b/ogre2/include/gz/rendering/ogre2/Ogre2RenderEngine.hh
@@ -37,11 +37,6 @@ namespace Ogre
   class LogManager;
   class Root;
   class Window;
-  namespace v1
-  {
-    class OverlaySystem;
-  }
-
   class HlmsPbsTerraShadows;
   class CompositorWorkspaceListener;
 }
@@ -161,9 +156,6 @@ namespace gz
       /// \brief Create ogre root
       private: void CreateRoot();
 
-      /// \brief Create ogre overlay component
-      private: void CreateOverlay();
-
       /// \brief Create ogre plugins.
       private: void LoadPlugins();
 
@@ -187,11 +179,6 @@ namespace gz
       /// \return Ogre HLMS customizations
       public: Ogre2GzHlmsSphericalClipMinDistance &SphericalClipMinDistance();
 
-      /// \internal
-      /// \brief Get a pointer to the Ogre overlay system.
-      /// \return Pointer to the ogre overlay system.
-      public: Ogre::v1::OverlaySystem *OverlaySystem() const;
-
       /// \internal
       /// \brief Sets the current rendering mode. See GzOgreRenderingMode
       /// and see Ogre::GzHlmsPbs
@@ -221,9 +208,6 @@ namespace gz
       /// \return a pointer to the render engine
       public: static Ogre2RenderEngine *Instance();
 
-      /// \brief Pointer to the ogre's overlay system
-      private: Ogre::v1::OverlaySystem *ogreOverlaySystem = nullptr;
-
       /// \brief List of scenes managed by the render engine
       private: Ogre2SceneStorePtr scenes;
 
diff --git a/ogre2/src/Ogre2RenderEngine.cc b/ogre2/src/Ogre2RenderEngine.cc
index 0290a632e..edefc3bda 100644
--- a/ogre2/src/Ogre2RenderEngine.cc
+++ b/ogre2/src/Ogre2RenderEngine.cc
@@ -190,9 +190,6 @@ void Ogre2RenderEngine::Destroy()
     this->scenes->RemoveAll();
   }
 
-  delete this->ogreOverlaySystem;
-  this->ogreOverlaySystem = nullptr;
-
   this->dataPtr->hlmsPbsTerraShadows.reset();
 
   if (this->ogreRoot)
@@ -501,7 +498,6 @@ void Ogre2RenderEngine::LoadAttempt()
   }
 
   this->CreateRoot();
-  this->CreateOverlay();
   this->LoadPlugins();
   this->CreateRenderSystem();
   this->ogreRoot->initialise(false);
@@ -636,12 +632,6 @@ void Ogre2RenderEngine::CreateRoot()
   }
 }
 
-//////////////////////////////////////////////////
-void Ogre2RenderEngine::CreateOverlay()
-{
-  this->ogreOverlaySystem = new Ogre::v1::OverlaySystem();
-}
-
 //////////////////////////////////////////////////
 void Ogre2RenderEngine::LoadPlugins()
 {
@@ -1416,12 +1406,6 @@ SphericalClipMinDistance()
   return this->dataPtr->sphericalClipMinDistance;
 }
 
-/////////////////////////////////////////////////
-Ogre::v1::OverlaySystem *Ogre2RenderEngine::OverlaySystem() const
-{
-  return this->ogreOverlaySystem;
-}
-
 /////////////////////////////////////////////////
 void Ogre2RenderEngine::SetGzOgreRenderingMode(
   GzOgreRenderingMode renderingMode)
diff --git a/ogre2/src/Ogre2Scene.cc b/ogre2/src/Ogre2Scene.cc
index 2da0e2276..acde09dd6 100644
--- a/ogre2/src/Ogre2Scene.cc
+++ b/ogre2/src/Ogre2Scene.cc
@@ -83,8 +83,6 @@
 #include <OgrePlatformInformation.h>
 #include <OgreRoot.h>
 #include <OgreSceneManager.h>
-#include <Overlay/OgreOverlayManager.h>
-#include <Overlay/OgreOverlaySystem.h>
 #if OGRE_VERSION_MAJOR == 2 && OGRE_VERSION_MINOR == 1
 #include <OgreHlms.h>
 #include <OgreHlmsManager.h>
@@ -501,12 +499,6 @@ void Ogre2Scene::Destroy()
 
   BaseScene::Destroy();
 
-  if (this->ogreSceneManager)
-  {
-    this->ogreSceneManager->removeRenderQueueListener(
-        Ogre2RenderEngine::Instance()->OverlaySystem());
-  }
-
   if (this->dataPtr->activeGi)
   {
     this->dataPtr->activeGi->Destroy();
@@ -1477,13 +1469,6 @@ void Ogre2Scene::CreateContext()
   this->ogreSceneManager = root->createSceneManager(Ogre::ST_GENERIC,
                                                     numThreads);
 
-  this->ogreSceneManager->addRenderQueueListener(
-      Ogre2RenderEngine::Instance()->OverlaySystem());
-
-  this->ogreSceneManager->getRenderQueue()->setSortRenderQueue(
-      Ogre::v1::OverlayManager::getSingleton().mDefaultRenderQueueId,
-      Ogre::RenderQueue::StableSort);
-
   // Set sane defaults for proper shadow mapping
   this->ogreSceneManager->setShadowDirectionalLightExtrusionDistance(500.0f);
   this->ogreSceneManager->setShadowFarDistance(500.0f);