diff --git a/src/viam/proto/robot/__init__.py b/src/viam/proto/robot/__init__.py
index a860e990d..fd3e5d3bc 100644
--- a/src/viam/proto/robot/__init__.py
+++ b/src/viam/proto/robot/__init__.py
@@ -10,8 +10,8 @@
     CancelOperationRequest,
     CancelOperationResponse,
     ConfigStatus,
-    DiscoverComponentsRequest,
-    DiscoverComponentsResponse,
+    DiscoverComponentsRequest, # deprecated, remove on march 10th
+    DiscoverComponentsResponse, # deprecated, remove on march 10th
     Discovery,
     DiscoveryQuery,
     FrameSystemConfig,
@@ -73,8 +73,8 @@
     "CancelOperationRequest",
     "CancelOperationResponse",
     "ConfigStatus",
-    "DiscoverComponentsRequest",
-    "DiscoverComponentsResponse",
+    "DiscoverComponentsRequest", # deprecated, remove on march 10th
+    "DiscoverComponentsResponse", # deprecated, remove on march 10th
     "Discovery",
     "DiscoveryQuery",
     "FrameSystemConfig",
diff --git a/src/viam/robot/client.py b/src/viam/robot/client.py
index 29d66fe1d..0ea996fa2 100644
--- a/src/viam/robot/client.py
+++ b/src/viam/robot/client.py
@@ -1,5 +1,6 @@
 import asyncio
 import sys
+import warnings
 from dataclasses import dataclass
 from datetime import datetime
 from threading import RLock
@@ -732,6 +733,7 @@ async def discover_components(
         queries: List[DiscoveryQuery],
     ) -> List[Discovery]:
         """
+        Deprecated: v0.38.0, use the Discovery Service APIs instead.
         Get a list of discovered potential component configurations, for example listing different supported resolutions. Currently only works for some cameras.
         Returns module names for modules.
 
@@ -759,6 +761,11 @@ async def discover_components(
         """
         request = DiscoverComponentsRequest(queries=queries)
         response: DiscoverComponentsResponse = await self._client.DiscoverComponents(request)
+        warnings.warn(
+            "RobotClient.discover_components is deprecated. It will be removed on March 10 2025. Use the DiscoveryService APIs instead.",
+            DeprecationWarning, stacklevel=2)
+        LOGGER.warning(
+            "RobotClient.discover_components is deprecated. It will be removed on March 10 2025. Use the DiscoveryService APIs instead.")
         return list(response.discovery)
 
     ############
diff --git a/tests/mocks/robot.py b/tests/mocks/robot.py
index 99857f3a6..3532f2b53 100644
--- a/tests/mocks/robot.py
+++ b/tests/mocks/robot.py
@@ -9,8 +9,6 @@
     BlockForOperationResponse,
     CancelOperationRequest,
     CancelOperationResponse,
-    DiscoverComponentsRequest,
-    DiscoverComponentsResponse,
     FrameSystemConfigRequest,
     FrameSystemConfigResponse,
     GetCloudMetadataRequest,
@@ -100,9 +98,6 @@ async def FrameSystemConfig(self, stream: Stream[FrameSystemConfigRequest, Frame
     async def TransformPose(self, stream: Stream[TransformPoseRequest, TransformPoseResponse]) -> None:
         raise MethodNotImplementedError("TransformPose").grpc_error
 
-    async def DiscoverComponents(self, stream: Stream[DiscoverComponentsRequest, DiscoverComponentsResponse]) -> None:
-        raise MethodNotImplementedError("DiscoverComponents").grpc_error
-
     async def StopAll(self, stream: Stream[StopAllRequest, StopAllResponse]) -> None:
         raise MethodNotImplementedError("StopAll").grpc_error
 
diff --git a/tests/test_robot.py b/tests/test_robot.py
index b52aa5b1c..024a8d8fa 100644
--- a/tests/test_robot.py
+++ b/tests/test_robot.py
@@ -21,8 +21,6 @@
     BlockForOperationResponse,
     CancelOperationRequest,
     CancelOperationResponse,
-    DiscoverComponentsRequest,
-    DiscoverComponentsResponse,
     Discovery,
     DiscoveryQuery,
     FrameSystemConfig,
@@ -168,12 +166,6 @@ async def TransformPose(stream: Stream[TransformPoseRequest, TransformPoseRespon
         response = TransformPoseResponse(pose=TRANSFORM_RESPONSE)
         await stream.send_message(response)
 
-    async def DiscoverComponents(stream: Stream[DiscoverComponentsRequest, DiscoverComponentsResponse]) -> None:
-        request = await stream.recv_message()
-        assert request is not None
-        response = DiscoverComponentsResponse(discovery=DISCOVERY_RESPONSE)
-        await stream.send_message(response)
-
     async def GetOperations(stream: Stream[GetOperationsRequest, GetOperationsResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None
@@ -205,7 +197,6 @@ async def Shutdown(stream: Stream[ShutdownRequest, ShutdownResponse]) -> None:
     service = RobotService(manager)
     service.FrameSystemConfig = Config
     service.TransformPose = TransformPose
-    service.DiscoverComponents = DiscoverComponents
     service.GetOperations = GetOperations
     service.GetCloudMetadata = GetCloudMetadata
     service.Shutdown = Shutdown
@@ -374,13 +365,6 @@ async def test_transform_pose(self, service: RobotService):
             assert pose == TRANSFORM_RESPONSE
             await client.close()
 
-    async def test_discover_components(self, service: RobotService):
-        async with ChannelFor([service]) as channel:
-            client = await RobotClient.with_channel(channel, RobotClient.Options())
-            discoveries = await client.discover_components([DISCOVERY_QUERY])
-            assert discoveries == DISCOVERY_RESPONSE
-            await client.close()
-
     async def test_get_cloud_metadata(self, service: RobotService):
         async with ChannelFor([service]) as channel:
             client = await RobotClient.with_channel(channel, RobotClient.Options())