diff --git a/manipulation/models/wsg_50_description/README.md b/manipulation/models/wsg_50_description/README.md
index 2c620c9f5a93..7c797aaddb67 100644
--- a/manipulation/models/wsg_50_description/README.md
+++ b/manipulation/models/wsg_50_description/README.md
@@ -1,3 +1,6 @@
+**WARNING** All of the *.urdf models and *.obj meshes in this package are
+deprecated and will be removed on 2020-11-01.
+
 Execute the following commands to regenerate the URDF files using `xacro`. Note
 that ROS Jade or newer must be used because the `xacro` scripts make use of more
 expressive conditional statements [1].