diff --git a/bindings/pydrake/math_py.cc b/bindings/pydrake/math_py.cc
index 919b29b1a5cd..6ed73d6667d5 100644
--- a/bindings/pydrake/math_py.cc
+++ b/bindings/pydrake/math_py.cc
@@ -40,7 +40,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
   const char* doc_iso3_deprecation =
       "DO NOT USE!. We only offer this API for backwards compatibility with "
       "Isometry3 and it will be deprecated soon with the resolution of "
-      "#9865. This will be removed on or around 2019-07-01.";
+      "#9865. This will be removed on or around 2019-08-01.";
 
   constexpr auto& doc = pydrake_doc.drake.math;
   {
@@ -95,13 +95,6 @@ void DoScalarDependentDefinitions(py::module m, T) {
               return *self * p_BoQ_B;
             },
             py::arg("p_BoQ_B"), cls_doc.operator_mul.doc_1args_p_BoQ_B)
-        .def("multiply",
-            [doc_iso3_deprecation](
-                const RigidTransform<T>* self, const Isometry3<T>& other) {
-              WarnDeprecated(doc_iso3_deprecation);
-              return *self * RigidTransform<T>(other);
-            },
-            py::arg("other"), doc_iso3_deprecation)
         .def("matrix", &RigidTransform<T>::matrix, doc_iso3_deprecation)
         .def("linear", &RigidTransform<T>::linear, py_reference_internal,
             doc_iso3_deprecation);
diff --git a/bindings/pydrake/multibody/plant_py.cc b/bindings/pydrake/multibody/plant_py.cc
index e360463f4ebb..c76057a9ece8 100644
--- a/bindings/pydrake/multibody/plant_py.cc
+++ b/bindings/pydrake/multibody/plant_py.cc
@@ -582,9 +582,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
                 const CoulombFriction<double>&>(
                 &Class::RegisterCollisionGeometry),
             py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
-            py::arg("coulomb_friction"),
-            cls_doc.RegisterCollisionGeometry
-                .doc_5args_body_X_BG_shape_name_coulomb_friction)
+            py::arg("coulomb_friction"), cls_doc.RegisterCollisionGeometry.doc)
         .def("RegisterCollisionGeometry",
             [](Class* self, const Body<T>& body,
                 const RigidTransform<double>& X_BG,
@@ -602,26 +600,7 @@ void DoScalarDependentDefinitions(py::module m, T) {
             },
             py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
             py::arg("coulomb_friction"), py::arg("scene_graph"),
-            (std::string("(Deprecated.) ") +
-                cls_doc.RegisterCollisionGeometry
-                    .doc_5args_body_X_BG_shape_name_coulomb_friction)
-                .c_str())
-        .def("RegisterCollisionGeometry",
-            [](Class* self, const Body<T>& body, const Isometry3<double>& X_BG,
-                const geometry::Shape& shape, const std::string& name,
-                const CoulombFriction<double>& coulomb_friction,
-                geometry::SceneGraph<T>* scene_graph) {
-              WarnDeprecated(doc_iso3_deprecation);
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              return self->RegisterCollisionGeometry(body,
-                  RigidTransform<double>(X_BG), shape, name, coulomb_friction,
-                  scene_graph);
-#pragma GCC diagnostic pop
-            },
-            py::arg("body"), py::arg("X_BG"), py::arg("shape"), py::arg("name"),
-            py::arg("coulomb_friction"), py::arg("scene_graph") = nullptr,
-            doc_iso3_deprecation)
+            cls_doc.RegisterCollisionGeometry.doc_deprecated)
         .def("get_source_id", &Class::get_source_id, cls_doc.get_source_id.doc)
         .def("get_geometry_query_input_port",
             &Class::get_geometry_query_input_port, py_reference_internal,
diff --git a/bindings/pydrake/systems/framework_py_semantics.cc b/bindings/pydrake/systems/framework_py_semantics.cc
index 1d45dab81d59..9937bf6c58cc 100644
--- a/bindings/pydrake/systems/framework_py_semantics.cc
+++ b/bindings/pydrake/systems/framework_py_semantics.cc
@@ -150,17 +150,6 @@ void DefineFrameworkPySemantics(py::module m) {
         // Bindings for Context methods inherited from ContextBase.
         .def("num_input_ports", &Context<T>::num_input_ports,
             doc.ContextBase.num_input_ports.doc)
-        .def("get_num_input_ports",
-            [](const Context<T>* self) {
-              WarnDeprecated(
-                  "Use num_input_ports() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_input_ports();
-#pragma GCC diagnostic pop
-            },
-            doc.ContextBase.get_num_input_ports.doc_deprecated)
         .def("num_output_ports", &Context<T>::num_output_ports,
             doc.ContextBase.num_output_ports.doc)
         // TODO(russt): Add remaining methods from ContextBase here.
@@ -227,28 +216,6 @@ void DefineFrameworkPySemantics(py::module m) {
         .def("get_abstract_parameter", &Context<T>::get_abstract_parameter,
             py::arg("index"), py_reference_internal,
             doc.Context.get_numeric_parameter.doc)
-        .def("get_num_discrete_state_groups",
-            [](const Context<T>* self) {
-              WarnDeprecated(
-                  "Use num_discrete_state_groups() instead. Will be removed "
-                  "on or after 2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_discrete_state_groups();
-#pragma GCC diagnostic pop
-            },
-            doc.Context.get_num_discrete_state_groups.doc_deprecated)
-        .def("get_num_abstract_states",
-            [](const Context<T>* self) {
-              WarnDeprecated(
-                  "Use num_abstract_states() instead. Will be removed on or "
-                  "after 2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_abstract_states();
-#pragma GCC diagnostic pop
-            },
-            doc.Context.get_num_abstract_states.doc_deprecated)
         // Bindings for the Context methods in the Doxygen group titled
         // "Methods for changing locally-stored values", placed in the same
         // order as the header file.
@@ -298,28 +265,6 @@ void DefineFrameworkPySemantics(py::module m) {
             doc.Context.FixInputPort.doc_2args_index_data)
         .def("SetAccuracy", &Context<T>::SetAccuracy, py::arg("accuracy"),
             doc.Context.SetAccuracy.doc)
-        .def("set_time",
-            [](Context<T>* self, const T& time) {
-              WarnDeprecated(
-                  "Use SetTime() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->set_time(time);
-#pragma GCC diagnostic pop
-            },
-            doc.Context.set_time.doc_deprecated)
-        .def("set_accuracy",
-            [](Context<T>* self, const optional<double>& accuracy) {
-              WarnDeprecated(
-                  "Use SetAccuracy() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->set_accuracy(accuracy);
-#pragma GCC diagnostic pop
-            },
-            doc.Context.set_accuracy.doc_deprecated)
         // Bindings for the Context methods in the Doxygen group titled
         // "Dangerous methods for changing locally-stored values", placed in the
         // same order as the header file.
@@ -498,17 +443,6 @@ void DefineFrameworkPySemantics(py::module m) {
     system_output
         .def("num_ports", &SystemOutput<T>::num_ports,
             doc.SystemOutput.num_ports.doc)
-        .def("get_num_ports",
-            [](const SystemOutput<T>* self) {
-              WarnDeprecated(
-                  "Use num_ports() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_ports();
-#pragma GCC diagnostic pop
-            },
-            doc.SystemOutput.get_num_ports.doc_deprecated)
         .def("get_data", &SystemOutput<T>::get_data, py_reference_internal,
             doc.SystemOutput.get_data.doc)
         .def("get_vector_data", &SystemOutput<T>::get_vector_data,
diff --git a/bindings/pydrake/systems/framework_py_systems.cc b/bindings/pydrake/systems/framework_py_systems.cc
index 0dd7f18d4b05..b3375f23b3ef 100644
--- a/bindings/pydrake/systems/framework_py_systems.cc
+++ b/bindings/pydrake/systems/framework_py_systems.cc
@@ -34,13 +34,13 @@ namespace {
 
 // TODO(eric.cousineau): Remove `*DeprecatedProtectedAlias*` cruft and
 // replace `PYDRAKE_TRY_PROTECTED_OVERLOAD` with `PYBIND11_OVERLOAD` once
-// deprecated methods are removed (on or around 2019-07-01).
+// deprecated methods are removed (on or around 2019-08-01).
 
 // Generates deprecation message pursuant to #9651.
 std::string DeprecatedProtectedAliasMessage(
     std::string name, std::string verb) {
   return fmt::format(
-      "'_{0}' is deprecated and will be removed on or around 2019-07-01. "
+      "'_{0}' is deprecated and will be removed on or around 2019-08-01. "
       "Please {1} '{0}' instead.",
       name, verb);
 }
@@ -358,17 +358,6 @@ struct Impl {
         // Topology.
         .def("num_input_ports", &System<T>::num_input_ports,
             doc.SystemBase.num_input_ports.doc)
-        .def("get_num_input_ports",
-            [](const System<T>* self) {
-              WarnDeprecated(
-                  "Use num_input_ports() instead. Will be removed on or after "
-                  "2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_input_ports();
-#pragma GCC diagnostic pop
-            },
-            doc.SystemBase.get_num_input_ports.doc_deprecated)
         .def("get_input_port", &System<T>::get_input_port,
             py_reference_internal, py::arg("port_index"),
             doc.System.get_input_port.doc)
@@ -376,17 +365,6 @@ struct Impl {
             py::arg("port_name"), doc.System.GetInputPort.doc)
         .def("num_output_ports", &System<T>::num_output_ports,
             doc.SystemBase.num_output_ports.doc)
-        .def("get_num_output_ports",
-            [](const System<T>* self) {
-              WarnDeprecated(
-                  "Use num_output_ports() instead. Will be removed on or "
-                  "after 2019-07-01.");
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-              self->get_num_output_ports();
-#pragma GCC diagnostic pop
-            },
-            doc.SystemBase.get_num_output_ports.doc_deprecated)
         .def("get_output_port", &System<T>::get_output_port,
             py_reference_internal, py::arg("port_index"),
             doc.System.get_output_port.doc)
diff --git a/bindings/pydrake/systems/framework_py_values.cc b/bindings/pydrake/systems/framework_py_values.cc
index d2b0e48f788e..027be2d83044 100644
--- a/bindings/pydrake/systems/framework_py_values.cc
+++ b/bindings/pydrake/systems/framework_py_values.cc
@@ -141,11 +141,11 @@ void DefineFrameworkPyValues(py::module m) {
       .def("SetFrom", &AbstractValue::SetFrom,
           pydrake_doc.drake.AbstractValue.SetFrom.doc)
       .def("get_value", abstract_stub("get_value"),
-          pydrake_doc.drake.AbstractValue.GetValue.doc)
+          pydrake_doc.drake.AbstractValue.get_value.doc)
       .def("get_mutable_value", abstract_stub("get_mutable_value"),
-          pydrake_doc.drake.AbstractValue.GetMutableValue.doc)
+          pydrake_doc.drake.AbstractValue.get_mutable_value.doc)
       .def("set_value", abstract_stub("set_value"),
-          pydrake_doc.drake.AbstractValue.SetValue.doc);
+          pydrake_doc.drake.AbstractValue.set_value.doc);
 
   // Add value instantiations for nominal data types. Types that require more
   // pizazz are listed below.
diff --git a/bindings/pydrake/systems/test/custom_test.py b/bindings/pydrake/systems/test/custom_test.py
index ffcb3580ec66..5d03891992da 100644
--- a/bindings/pydrake/systems/test/custom_test.py
+++ b/bindings/pydrake/systems/test/custom_test.py
@@ -134,20 +134,14 @@ def _create_adder_system(self):
 
     def _fix_adder_inputs(self, context):
         self.assertEqual(context.num_input_ports(), 2)
-        with catch_drake_warnings(expected_count=1):
-            context.get_num_input_ports()
         context.FixInputPort(0, BasicVector([1, 2, 3]))
         context.FixInputPort(1, BasicVector([4, 5, 6]))
 
     def test_diagram_adder(self):
         system = CustomDiagram(2, 3)
         self.assertEqual(system.num_input_ports(), 2)
-        with catch_drake_warnings(expected_count=1):
-            system.get_num_input_ports()
         self.assertEqual(system.get_input_port(0).size(), 3)
         self.assertEqual(system.num_output_ports(), 1)
-        with catch_drake_warnings(expected_count=1):
-            system.get_num_output_ports()
         self.assertEqual(system.get_output_port(0).size(), 3)
 
     def test_adder_execution(self):
@@ -511,8 +505,6 @@ def __init__(self):
             context.get_continuous_state_vector() is
             context.get_mutable_continuous_state_vector())
         self.assertEqual(context.num_discrete_state_groups(), 1)
-        with catch_drake_warnings(expected_count=1):
-            context.get_num_discrete_state_groups()
         self.assertTrue(
             context.get_discrete_state_vector() is
             context.get_mutable_discrete_state_vector())
@@ -529,8 +521,6 @@ def __init__(self):
             context.get_mutable_discrete_state(0) is
             context.get_mutable_discrete_state().get_vector(0))
         self.assertEqual(context.num_abstract_states(), 1)
-        with catch_drake_warnings(expected_count=1):
-            context.get_num_abstract_states()
         self.assertTrue(
             context.get_abstract_state() is
             context.get_mutable_abstract_state())
@@ -669,8 +659,6 @@ def DoCalcAbstractOutput(self, context, y_data):
             context.FixInputPort(0, AbstractValue.Make(expected_input_value))
             output = system.AllocateOutput()
             self.assertEqual(output.num_ports(), 1)
-            with catch_drake_warnings(expected_count=1):
-                output.get_num_ports()
             system.CalcOutput(context, output)
             value = output.get_data(0)
             self.assertEqual(value.get_value(), expected_output_value)
diff --git a/bindings/pydrake/systems/test/general_test.py b/bindings/pydrake/systems/test/general_test.py
index 839453dbcec3..bb6f9cd0b0b8 100644
--- a/bindings/pydrake/systems/test/general_test.py
+++ b/bindings/pydrake/systems/test/general_test.py
@@ -334,12 +334,8 @@ def check_output(context):
 
             # Create simulator specifying context.
             context = system.CreateDefaultContext()
-            with catch_drake_warnings(expected_count=1):
-                context.set_time(0.)
             context.SetTime(0.)
 
-            with catch_drake_warnings(expected_count=1):
-                context.set_accuracy(1e-4)
             context.SetAccuracy(1e-4)
             self.assertEqual(context.get_accuracy(), 1e-4)
 
diff --git a/common/test/value_test.cc b/common/test/value_test.cc
index 7fb3b539e813..91ea7c722fc5 100644
--- a/common/test/value_test.cc
+++ b/common/test/value_test.cc
@@ -197,18 +197,6 @@ GTEST_TEST(ValueTest, MaybeGetValue) {
 
   ASSERT_NE(string_value->maybe_get_value<std::string>(), nullptr);
   EXPECT_EQ(*string_value->maybe_get_value<std::string>(), "hello");
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  EXPECT_EQ(double_value->MaybeGetValue<std::string>(), nullptr);
-  EXPECT_EQ(string_value->MaybeGetValue<double>(), nullptr);
-
-  ASSERT_NE(double_value->MaybeGetValue<double>(), nullptr);
-  EXPECT_EQ(*double_value->MaybeGetValue<double>(), 3.);
-
-  ASSERT_NE(string_value->MaybeGetValue<std::string>(), nullptr);
-  EXPECT_EQ(*string_value->MaybeGetValue<std::string>(), "hello");
-#pragma GCC diagnostic pop
 }
 
 TYPED_TEST(TypedValueTest, Access) {
@@ -219,14 +207,6 @@ TYPED_TEST(TypedValueTest, Access) {
   EXPECT_EQ(3, erased.get_value<T>());
   ASSERT_NE(erased.maybe_get_value<T>(), nullptr);
   EXPECT_EQ(3, *erased.maybe_get_value<T>());
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  EXPECT_EQ(3, erased.GetValue<T>());
-  EXPECT_EQ(3, erased.GetValueOrThrow<T>());
-  ASSERT_NE(erased.MaybeGetValue<T>(), nullptr);
-  EXPECT_EQ(3, *erased.MaybeGetValue<T>());
-#pragma GCC diagnostic pop
 }
 
 TYPED_TEST(TypedValueTest, Clone) {
@@ -248,18 +228,6 @@ TYPED_TEST(TypedValueTest, Mutation) {
   EXPECT_EQ(5, erased.get_value<T>());
   erased.SetFrom(Value<T>(6));
   EXPECT_EQ(6, erased.get_value<T>());
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  erased.SetValue<T>(T{7});
-  EXPECT_EQ(7, erased.GetValue<T>());
-  erased.SetValueOrThrow<T>(T{8});
-  EXPECT_EQ(8, erased.GetValue<T>());
-  erased.SetFrom(Value<T>(9));
-  EXPECT_EQ(9, erased.GetValue<T>());
-  erased.SetFromOrThrow(Value<T>(10));
-  EXPECT_EQ(10, erased.GetValue<T>());
-#pragma GCC diagnostic pop
 }
 
 TYPED_TEST(TypedValueTest, BadCast) {
@@ -271,14 +239,6 @@ TYPED_TEST(TypedValueTest, BadCast) {
   EXPECT_THROW(erased.get_mutable_value<T>(), std::logic_error);
   EXPECT_THROW(erased.set_value<T>(T{3}), std::logic_error);
   EXPECT_THROW(erased.SetFrom(Value<T>(2)), std::logic_error);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  EXPECT_THROW(erased.GetValueOrThrow<T>(), std::logic_error);
-  EXPECT_THROW(erased.GetMutableValueOrThrow<T>(), std::logic_error);
-  EXPECT_THROW(erased.SetValueOrThrow<T>(T{3}), std::logic_error);
-  EXPECT_THROW(erased.SetFromOrThrow(Value<T>(2)), std::logic_error);
-#pragma GCC diagnostic pop
 }
 
 class PrintInterface {
diff --git a/common/value.h b/common/value.h
index cd25c931ba35..fc9cdfe463e8 100644
--- a/common/value.h
+++ b/common/value.h
@@ -9,7 +9,6 @@
 
 #include "drake/common/copyable_unique_ptr.h"
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_deprecated.h"
 #include "drake/common/hash.h"
 #include "drake/common/is_cloneable.h"
 #include "drake/common/nice_type_name.h"
@@ -103,60 +102,6 @@ class AbstractValue {
   template <typename T>
   const T* maybe_get_value() const;
 
-  /// Returns the value wrapped in this AbstractValue, which must be of
-  /// exactly type T.  T cannot be a superclass, abstract or otherwise.
-  /// In Debug builds, if the types don't match, an std::logic_error will be
-  /// thrown with a helpful error message. In Release builds, this is not
-  /// guaranteed.
-  template <typename T>
-  DRAKE_DEPRECATED("2019-07-01", "Use get_value<T>() instead.")
-  const T& GetValue() const;
-
-  /// Like GetValue, but throws std::logic_error on mismatched types even in
-  /// Release builds.
-  template <typename T>
-  DRAKE_DEPRECATED("2019-07-01", "Use get_value<T>() instead.")
-  const T& GetValueOrThrow() const;
-
-  /// Like GetValue, but quietly returns nullptr on mismatched types,
-  /// even in Release builds.
-  /// @returns A pointer to the stored value if T is the right type,
-  ///          otherwise nullptr.
-  template <typename T>
-  DRAKE_DEPRECATED("2019-07-01", "Use maybe_get_value<T>() instead.")
-  const T* MaybeGetValue() const;
-
-  /// Returns the value wrapped in this AbstractValue, which must be of
-  /// exactly type T.  T cannot be a superclass, abstract or otherwise.
-  /// In Debug builds, if the types don't match, an std::logic_error will be
-  /// thrown with a helpful error message. In Release builds, this is not
-  /// guaranteed. Intentionally not const: holders of const references to the
-  /// AbstractValue should not be able to mutate the value it contains.
-  template <typename T>
-  DRAKE_DEPRECATED("2019-07-01", "Use get_mutable_value<T>() instead.")
-  T& GetMutableValue();
-
-  /// Like GetMutableValue, but throws std::logic_error on mismatched types even
-  /// in Release builds.
-  template <typename T>
-  DRAKE_DEPRECATED("2019-07-01", "Use get_mutable_value<T>() instead.")
-  T& GetMutableValueOrThrow();
-
-  /// Sets the value wrapped in this AbstractValue, which must be of
-  /// exactly type T.  T cannot be a superclass, abstract or otherwise.
-  /// @param value_to_set The value to be copied or cloned into this
-  /// AbstractValue. In Debug builds, if the types don't match,
-  /// an std::logic_error will be thrown with a helpful error message. In
-  /// Release builds, this is not guaranteed.
-  template <typename T>
-  DRAKE_DEPRECATED("2019-07-01", "Use set_value<T>() instead.")
-  void SetValue(const T& value_to_set);
-
-  /// Like SetValue, but throws on mismatched types even in Release builds.
-  template <typename T>
-  DRAKE_DEPRECATED("2019-07-01", "Use set_value<T>() instead.")
-  void SetValueOrThrow(const T& value_to_set);
-
   /// Returns a copy of this AbstractValue.
   virtual std::unique_ptr<AbstractValue> Clone() const = 0;
 
@@ -165,11 +110,6 @@ class AbstractValue {
   /// message.
   virtual void SetFrom(const AbstractValue& other) = 0;
 
-  /// Like SetFrom, but throws std::logic_error on mismatched types even in
-  /// Release builds.
-  DRAKE_DEPRECATED("2019-07-01", "Use SetFrom() instead.")
-  virtual void SetFromOrThrow(const AbstractValue& other) = 0;
-
   /// Returns typeid of the contained object of type T. If T is polymorphic,
   /// this returns the typeid of the most-derived type of the contained object.
   virtual const std::type_info& type_info() const = 0;
@@ -280,7 +220,6 @@ class Value : public AbstractValue {
   // AbstractValue overrides.
   std::unique_ptr<AbstractValue> Clone() const override;
   void SetFrom(const AbstractValue& other) override;
-  void SetFromOrThrow(const AbstractValue& other) final;
   const std::type_info& type_info() const final;
   const std::type_info& static_type_info() const final;
 
@@ -686,46 +625,6 @@ const T* AbstractValue::maybe_get_value() const {
   return &self.get_value();
 }
 
-template <typename T>
-const T& AbstractValue::GetValue() const {
-  return get_value<T>();
-}
-
-template <typename T>
-const T& AbstractValue::GetValueOrThrow() const {
-  if (typeid(T) != static_type_info()) { ThrowCastError<T>(); }
-  return get_value<T>();
-}
-
-template <typename T>
-const T* AbstractValue::MaybeGetValue() const {
-  if (typeid(T) != static_type_info()) { return nullptr; }
-  auto* value = static_cast<const Value<T>*>(this);
-  return &value->get_value();
-}
-
-template <typename T>
-T& AbstractValue::GetMutableValue() {
-  return get_mutable_value<T>();
-}
-
-template <typename T>
-T& AbstractValue::GetMutableValueOrThrow() {
-  if (typeid(T) != static_type_info()) { ThrowCastError<T>(); }
-  return get_mutable_value<T>();
-}
-
-template <typename T>
-void AbstractValue::SetValue(const T& value_to_set) {
-  set_value<T>(value_to_set);
-}
-
-template <typename T>
-void AbstractValue::SetValueOrThrow(const T& value_to_set) {
-  if (typeid(T) != static_type_info()) { ThrowCastError<T>(); }
-  set_value<T>(value_to_set);
-}
-
 // In Debug mode, returns true iff `this` is-a `Value<T>`.  In Release mode, a
 // false return means `this` is definitely not a `Value<T>`; true means `this`
 // is-probably-a `Value<T>`, but might rarely appear even for mismatched types.
@@ -844,14 +743,6 @@ void Value<T>::SetFrom(const AbstractValue& other) {
   value_ = Traits::to_storage(other.get_value<T>());
 }
 
-template <typename T>
-void Value<T>::SetFromOrThrow(const AbstractValue& other) {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  value_ = Traits::to_storage(other.GetValueOrThrow<T>());
-#pragma GCC diagnostic pop
-}
-
 template <typename T>
 const std::type_info& Value<T>::type_info() const {
   return typeid(get_value());
diff --git a/doc/bazel.rst b/doc/bazel.rst
index 3f492c9ef177..380819be7027 100644
--- a/doc/bazel.rst
+++ b/doc/bazel.rst
@@ -264,7 +264,7 @@ See https://docs.bazel.build/versions/master/user-manual.html#bazelrc.
 Drake offers two flavors of SNOPT bindings for the MathematicalProgram:
 
  - The ``--config snopt_f2c`` option selects the legacy bindings that use the
-   f2c compiler; these bindings will be removed on 2019-07-01.
+   f2c compiler; these bindings will be removed on 2019-08-01.
  - The ``--config snopt_fortran`` option selects the bindings that use the
    gfortran compiler; these bindings will be supported for the foreseeable
    future.
diff --git a/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc b/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc
index 04441ea05542..ab66df61383c 100644
--- a/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc
+++ b/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc
@@ -87,7 +87,7 @@ void DoMain() {
   const auto& joint_hand_root = plant.GetBodyByName("hand_root");
   plant.AddJoint<multibody::WeldJoint>("weld_hand", plant.world_body(), nullopt,
                                        joint_hand_root, nullopt,
-                                       Isometry3<double>::Identity());
+                                       RigidTransformd::Identity());
 
   if (!FLAGS_add_gravity) {
     plant.mutable_gravity_field().set_gravity_vector(
diff --git a/examples/allegro_hand/run_allegro_constant_load_demo.cc b/examples/allegro_hand/run_allegro_constant_load_demo.cc
index 1904448acbf9..84d66a40e660 100644
--- a/examples/allegro_hand/run_allegro_constant_load_demo.cc
+++ b/examples/allegro_hand/run_allegro_constant_load_demo.cc
@@ -74,7 +74,7 @@ void DoMain() {
   // Weld the hand to the world frame
   const auto& joint_hand_root = plant.GetBodyByName("hand_root");
   plant.AddJoint<multibody::WeldJoint>("weld_hand", plant.world_body(), nullopt,
-      joint_hand_root, nullopt, Isometry3<double>::Identity());
+      joint_hand_root, nullopt, math::RigidTransformd::Identity());
 
   if (!FLAGS_add_gravity) {
     plant.mutable_gravity_field().set_gravity_vector(
diff --git a/examples/kuka_iiwa_arm/iiwa_lcm.h b/examples/kuka_iiwa_arm/iiwa_lcm.h
index 0831749e8ce0..ae9363e8e1a5 100644
--- a/examples/kuka_iiwa_arm/iiwa_lcm.h
+++ b/examples/kuka_iiwa_arm/iiwa_lcm.h
@@ -66,7 +66,6 @@ using manipulation::kuka_iiwa::IiwaCommandReceiver;
 using manipulation::kuka_iiwa::IiwaCommandSender;
 using manipulation::kuka_iiwa::IiwaStatusReceiver;
 using manipulation::kuka_iiwa::IiwaStatusSender;
-using manipulation::kuka_iiwa::MakeIiwaCommandLcmSubscriberSystem;
 using manipulation::kuka_iiwa::kIiwaLcmStatusPeriod;
 
 }  // namespace kuka_iiwa_arm
diff --git a/geometry/geometry_frame.h b/geometry/geometry_frame.h
index bd16e6a593e4..9644ea5599f0 100644
--- a/geometry/geometry_frame.h
+++ b/geometry/geometry_frame.h
@@ -44,20 +44,6 @@ class GeometryFrame {
     ThrowIfInvalid();
   }
 
-  /** Constructor.
-   @param frame_name        The name of the frame.
-   @param X_PF              The initial pose of this frame F, measured and
-                            expressed in the _intended_ parent frame P.
-   @param frame_group_id    The optional frame group identifier. If unspecified,
-                            defaults to the common, 0 group. Must be
-                            non-negative.  */
-  DRAKE_DEPRECATED("2019-07-01",
-                   "GeometryFrame no longer requires a pose X_PF; prefer the "
-                   "constructor without pose.")
-  GeometryFrame(const std::string& frame_name, const Isometry3<double>&,
-                int frame_group_id = 0)
-      : GeometryFrame(frame_name, frame_group_id) {}
-
   /** Returns the globally unique id for this geometry specification. Every
    instantiation of %FrameInstance will contain a unique id value. The id
    value is preserved across copies. After successfully registering this
diff --git a/manipulation/kuka_iiwa/iiwa_command_receiver.cc b/manipulation/kuka_iiwa/iiwa_command_receiver.cc
index 6fa156e1ec83..158060c0ac5f 100644
--- a/manipulation/kuka_iiwa/iiwa_command_receiver.cc
+++ b/manipulation/kuka_iiwa/iiwa_command_receiver.cc
@@ -118,14 +118,6 @@ IiwaCommandReceiver::MapVectorXd IiwaCommandReceiver::input_torque(
       message.joint_torque.size());
 }
 
-std::unique_ptr<systems::lcm::LcmSubscriberSystem>
-MakeIiwaCommandLcmSubscriberSystem(
-    int, const std::string& channel,
-    drake::lcm::DrakeLcmInterface* lcm) {
-  return systems::lcm::LcmSubscriberSystem::Make<drake::lcmt_iiwa_command>(
-      channel, lcm);
-}
-
 }  // namespace kuka_iiwa
 }  // namespace manipulation
 }  // namespace drake
diff --git a/manipulation/kuka_iiwa/iiwa_command_receiver.h b/manipulation/kuka_iiwa/iiwa_command_receiver.h
index 42bcd7285743..35f96f185b44 100644
--- a/manipulation/kuka_iiwa/iiwa_command_receiver.h
+++ b/manipulation/kuka_iiwa/iiwa_command_receiver.h
@@ -5,7 +5,6 @@
 #include <vector>
 
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_deprecated.h"
 #include "drake/common/eigen_types.h"
 #include "drake/lcmt_iiwa_command.hpp"
 #include "drake/manipulation/kuka_iiwa/iiwa_constants.h"
@@ -23,15 +22,9 @@ namespace kuka_iiwa {
 /// LcmSubscriberSystem::Make<drake::lcmt_iiwa_command>().
 ///
 /// It has one input port, "lcmt_iiwa_command".
-/// (As well as some deprecated input ports; see below.)
 ///
 /// It has two output ports: one for the commanded position for each joint, and
 /// one for commanded additional feedforward joint torque.
-/// (As well as some deprecated output ports; see below.)
-///
-/// It also has one additional, deprecated output port -- "state" for the
-/// commanded position AND an estimate of the commanded velocity for each
-/// joint.
 ///
 /// @system { IiwaCommandReceiver,
 ///   @input_port{lcmt_iiwa_command}
@@ -68,14 +61,6 @@ class IiwaCommandReceiver : public systems::LeafSystem<double> {
   const systems::CacheEntry* groomed_input_{};
 };
 
-/// Creates a LcmSubscriberSystem for lcmt_iiwa_command.
-DRAKE_DEPRECATED("2019-07-01",
-    "Call LcmSubscriberSystem::Make<drake::lcmt_iiwa_command> instead.")
-std::unique_ptr<systems::lcm::LcmSubscriberSystem>
-MakeIiwaCommandLcmSubscriberSystem(
-    int num_joints, const std::string& channel,
-    drake::lcm::DrakeLcmInterface* lcm);
-
 }  // namespace kuka_iiwa
 }  // namespace manipulation
 }  // namespace drake
diff --git a/manipulation/planner/test/differential_inverse_kinematics_test.cc b/manipulation/planner/test/differential_inverse_kinematics_test.cc
index 992231bd2596..cf9b058b5213 100644
--- a/manipulation/planner/test/differential_inverse_kinematics_test.cc
+++ b/manipulation/planner/test/differential_inverse_kinematics_test.cc
@@ -49,7 +49,8 @@ class DifferentialInverseKinematicsTest : public ::testing::Test {
         Translation3d(Vector3d(0.1, 0, 0)) *
         AngleAxis<double>(M_PI, Vector3d::UnitZ());
     frame_E_ = &plant_->AddFrame(std::make_unique<FixedOffsetFrame<double>>(
-        plant_->GetBodyByName("iiwa_link_7").body_frame(), X_7E));
+        plant_->GetBodyByName("iiwa_link_7").body_frame(),
+        math::RigidTransformd(X_7E)));
     plant_->Finalize();
     owned_context_ = plant_->CreateDefaultContext();
     context_ = owned_context_.get();
diff --git a/math/rigid_transform.h b/math/rigid_transform.h
index adba73f3725e..75f437cc64a9 100644
--- a/math/rigid_transform.h
+++ b/math/rigid_transform.h
@@ -5,7 +5,6 @@
 #include "drake/common/drake_assert.h"
 #include "drake/common/drake_bool.h"
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_deprecated.h"
 #include "drake/common/eigen_types.h"
 #include "drake/common/never_destroyed.h"
 #include "drake/math/rotation_matrix.h"
@@ -306,15 +305,6 @@ class RigidTransform {
   }
 
 #ifndef DRAKE_DOXYGEN_CXX
-  /// Until #9865 is resolved, this operator temporarily allows users mixing the
-  /// use of %RigidTransform with Isometry3.
-  DRAKE_DEPRECATED("2019-07-01",
-                   "Do not mix RigidTransform with Isometry3. Only use "
-                   "RigidTransform per #9865.")
-  RigidTransform<T> operator*(const Isometry3<T>& isometry3) const {
-    return *this * RigidTransform<T>(isometry3);
-  }
-
   // DO NOT USE. These methods will soon be deprecated as #9865 is resolved.
   // They are only provided to support backwards compatibility with
   // Isometry3 as we migrate Drake's codebase to use RigidTransform. New uses of
diff --git a/multibody/plant/multibody_plant.h b/multibody/plant/multibody_plant.h
index 2080854cad02..2d1694f10f3b 100644
--- a/multibody/plant/multibody_plant.h
+++ b/multibody/plant/multibody_plant.h
@@ -3222,172 +3222,6 @@ class MultibodyPlant : public internal::MultibodyTreeSystem<T> {
     internal_tree().SetRandomState(context, state, generator);
   }
 
-#ifndef DRAKE_DOXYGEN_CXX
-  // These APIs using Isometry3 will be deprecated soon with the resolution of
-  // #9865. Right now we offer them for backwards compatibility.
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  void SetFreeBodyPose(systems::Context<T>* context, const Body<T>& body,
-                       const Isometry3<T>& X_WB) const {
-    SetFreeBodyPose(context, body, math::RigidTransform<T>(X_WB));
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  void SetFreeBodyPose(const systems::Context<T>& context,
-                       systems::State<T>* state, const Body<T>& body,
-                       const Isometry3<T>& X_WB) const {
-    SetFreeBodyPose(context, state, body, math::RigidTransform<T>(X_WB));
-  }
-
-  // Allows having a non-empty X_PF isometry and a nullopt X_BM.
-  template <template <typename> class JointType, typename... Args>
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  const JointType<T>& AddJoint(const std::string& name, const Body<T>& parent,
-                               const Isometry3<double>& X_PF,
-                               const Body<T>& child,
-                               const optional<Isometry3<double>>& X_BM,
-                               Args&&... args) {
-    DRAKE_MBP_THROW_IF_FINALIZED();
-
-    const math::RigidTransform<double> X_PF_rt(X_PF);
-    const optional<math::RigidTransform<double>> X_BM_rt =
-        X_BM ? optional<math::RigidTransform<T>>(math::RigidTransform<T>(*X_BM))
-             : nullopt;
-
-    auto& joint = AddJoint<JointType>(
-        name, parent, X_PF_rt, child, X_BM_rt, std::forward<Args>(args)...);
-    return joint;
-  }
-
-  // Allows having a nullopt X_PF and a non-empty X_BM isometry.
-  template <template <typename> class JointType, typename... Args>
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  const JointType<T>& AddJoint(const std::string& name, const Body<T>& parent,
-                               const optional<Isometry3<double>>& X_PF,
-                               const Body<T>& child,
-                               const Isometry3<double>& X_BM,
-                               Args&&... args) {
-    DRAKE_MBP_THROW_IF_FINALIZED();
-    optional<math::RigidTransform<double>> X_PF_rt =
-        X_PF ? optional<math::RigidTransform<T>>(math::RigidTransform<T>(*X_PF))
-             : nullopt;
-    const math::RigidTransform<double> X_BM_rt(X_BM);
-
-    auto& joint = AddJoint<JointType>(
-        name, parent, X_PF_rt, child, X_BM_rt, std::forward<Args>(args)...);
-    return joint;
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  const WeldJoint<T>& WeldFrames(
-      const Frame<T>& A, const Frame<T>& B,
-      const Isometry3<double>& X_AB) {
-    return WeldFrames(A, B, math::RigidTransform<double>(X_AB));
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  void SetFreeBodyPoseInWorldFrame(systems::Context<T>* context,
-                                   const Body<T>& body,
-                                   const Isometry3<T>& X_WB) const {
-    SetFreeBodyPoseInWorldFrame(context, body, math::RigidTransform<T>(X_WB));
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  void SetFreeBodyPoseInAnchoredFrame(systems::Context<T>* context,
-                                      const Frame<T>& frame_F,
-                                      const Body<T>& body,
-                                      const Isometry3<T>& X_FB) const {
-    SetFreeBodyPoseInAnchoredFrame(context, frame_F, body,
-                                   math::RigidTransform<T>(X_FB));
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  geometry::GeometryId RegisterVisualGeometry(
-      const Body<T>& body, const Isometry3<double>& X_BG_iso3,
-      const geometry::Shape& shape, const std::string& name,
-      const geometry::IllustrationProperties& properties,
-      geometry::SceneGraph<T>* scene_graph = nullptr) {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    return RegisterVisualGeometry(body, math::RigidTransform<double>(X_BG_iso3),
-                                  shape, name, properties, scene_graph);
-#pragma GCC diagnostic pop
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  geometry::GeometryId RegisterVisualGeometry(
-      const Body<T>& body, const Isometry3<double>& X_BG_iso3,
-      const geometry::Shape& shape, const std::string& name,
-      const Vector4<double>& diffuse_color,
-      geometry::SceneGraph<T>* scene_graph = nullptr) {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    return RegisterVisualGeometry(body, math::RigidTransform<double>(X_BG_iso3),
-                                  shape, name, diffuse_color, scene_graph);
-#pragma GCC diagnostic pop
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  geometry::GeometryId RegisterVisualGeometry(
-      const Body<T>& body, const Isometry3<double>& X_BG_iso3,
-      const geometry::Shape& shape, const std::string& name,
-      geometry::SceneGraph<T>* scene_graph = nullptr) {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    return RegisterVisualGeometry(body, math::RigidTransform<double>(X_BG_iso3),
-                                  shape, name, scene_graph);
-#pragma GCC diagnostic pop
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  geometry::GeometryId RegisterCollisionGeometry(
-      const Body<T>& body, const Isometry3<double>& X_BG_iso3,
-      const geometry::Shape& shape, const std::string& name,
-      const CoulombFriction<double>& coulomb_friction,
-      geometry::SceneGraph<T>* scene_graph = nullptr) {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    return RegisterCollisionGeometry(body,
-                                     math::RigidTransform<double>(X_BG_iso3),
-                                     shape, name, coulomb_friction,
-                                     scene_graph);
-#pragma GCC diagnostic pop
-  }
-#endif
-
   using internal::MultibodyTreeSystem<T>::is_discrete;
   using internal::MultibodyTreeSystem<T>::EvalPositionKinematics;
   using internal::MultibodyTreeSystem<T>::EvalVelocityKinematics;
diff --git a/multibody/tree/fixed_offset_frame.h b/multibody/tree/fixed_offset_frame.h
index d5201c673ea8..64ad36d4df40 100644
--- a/multibody/tree/fixed_offset_frame.h
+++ b/multibody/tree/fixed_offset_frame.h
@@ -77,40 +77,6 @@ class FixedOffsetFrame final : public Frame<T> {
       const Body<T>& bodyB, const math::RigidTransform<double>& X_BF)
       : FixedOffsetFrame("", bodyB, X_BF) {}
 
-#ifndef DRAKE_DOXYGEN_CXX
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  FixedOffsetFrame(const std::string& name, const Frame<T>& P,
-                   const Isometry3<double>& X_PF,
-                   optional<ModelInstanceIndex> model_instance = {})
-      : FixedOffsetFrame(name, P, math::RigidTransformd(X_PF), model_instance) {
-  }
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  FixedOffsetFrame(const Frame<T>& P, const Isometry3<double>& X_PF)
-      : FixedOffsetFrame(P, math::RigidTransformd(X_PF)) {}
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  FixedOffsetFrame(const std::string& name, const Body<T>& bodyB,
-                   const Isometry3<double>& X_BF)
-      : FixedOffsetFrame(name, bodyB, math::RigidTransformd(X_BF)) {}
-
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  FixedOffsetFrame(const Body<T>& bodyB, const Isometry3<double>& X_BF)
-      : FixedOffsetFrame(bodyB, math::RigidTransformd(X_BF)) {}
-#endif
-
   math::RigidTransform<T> CalcPoseInBodyFrame(
       const systems::Context<T>& context) const override {
     // X_BF = X_BP * X_PF
diff --git a/multibody/tree/weld_joint.h b/multibody/tree/weld_joint.h
index 433d34acc079..b472f6d2088e 100644
--- a/multibody/tree/weld_joint.h
+++ b/multibody/tree/weld_joint.h
@@ -57,17 +57,6 @@ class WeldJoint final : public Joint<T> {
     return name.access();
   }
 
-#ifndef DRAKE_DOXYGEN_CXX
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "This Isometry3 overload will be removed pending the resolution of "
-      "#9865. Use the RigidTransform overload instead.")
-  WeldJoint(const std::string& name, const Frame<T>& parent_frame_P,
-            const Frame<T>& child_frame_C, const Isometry3<double>& X_PC)
-      : WeldJoint(name, parent_frame_P, child_frame_C,
-                  math::RigidTransformd(X_PC)) {}
-#endif
-
   /// Returns the pose X_PC of frame C in P.
   const math::RigidTransform<double>& X_PC() const {
     return X_PC_;
diff --git a/solvers/solver_base.cc b/solvers/solver_base.cc
index 8b8674bb1a9e..f9916230c68b 100644
--- a/solvers/solver_base.cc
+++ b/solvers/solver_base.cc
@@ -74,14 +74,5 @@ bool SolverBase::AreProgramAttributesSatisfied(
   return default_satisfied_(prog);
 }
 
-// NOLINTNEXTLINE(runtime/references)
-SolutionResult SolverBase::Solve(MathematicalProgram& prog) const {
-  // N.B. This (deprecated) method is not very useful because discards all
-  // solution information except for the result code.
-  MathematicalProgramResult result;
-  Solve(prog, {}, {}, &result);
-  return result.get_solution_result();
-}
-
 }  // namespace solvers
 }  // namespace drake
diff --git a/solvers/solver_base.h b/solvers/solver_base.h
index b254406a6444..251fb665dccf 100644
--- a/solvers/solver_base.h
+++ b/solvers/solver_base.h
@@ -5,7 +5,6 @@
 #include <Eigen/Core>
 
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_deprecated.h"
 #include "drake/solvers/mathematical_program.h"
 #include "drake/solvers/solution_result.h"
 #include "drake/solvers/solver_id.h"
@@ -36,14 +35,6 @@ class SolverBase : public SolverInterface {
   bool available() const override;
   SolverId solver_id() const override;
   bool AreProgramAttributesSatisfied(const MathematicalProgram&) const override;
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "MathematicalProgram methods that assume the solution is stored inside "
-      "the program are deprecated; for details and porting advice, see "
-      "https://github.com/RobotLocomotion/drake/issues/9633.")
-  SolutionResult Solve(
-      // NOLINTNEXTLINE(runtime/references)
-      MathematicalProgram&) const override;
 
  protected:
   /// Constructs a SolverBase with the given default implementations of the
diff --git a/solvers/solver_interface.h b/solvers/solver_interface.h
index ffb43caf49b3..4dfceec8d90c 100644
--- a/solvers/solver_interface.h
+++ b/solvers/solver_interface.h
@@ -3,7 +3,6 @@
 #include <Eigen/Core>
 
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_deprecated.h"
 #include "drake/solvers/mathematical_program.h"
 #include "drake/solvers/mathematical_program_result.h"
 #include "drake/solvers/solution_result.h"
@@ -22,19 +21,6 @@ class SolverInterface {
   /// Returns true iff this solver was enabled at compile-time.
   virtual bool available() const = 0;
 
-  /// Solves an optimization program and returns a solution result (whether a
-  /// solution was found or else why not).  If no solver is available, throws
-  /// std::runtime_error.
-  /// @warning This method *discards* the solved decision variable values.
-  DRAKE_DEPRECATED(
-      "2019-07-01",
-      "MathematicalProgram methods that assume the solution is stored inside "
-      "the program are deprecated; for details and porting advice, see "
-      "https://github.com/RobotLocomotion/drake/issues/9633.")
-  virtual SolutionResult Solve(
-      // NOLINTNEXTLINE(runtime/references)
-      MathematicalProgram& prog) const = 0;
-
   /// Solves an optimization program with optional initial guess and solver
   /// options. Note that these initial guess and solver options are not written
   /// to @p prog.
diff --git a/systems/framework/context.h b/systems/framework/context.h
index 2c5630d4a8e3..03116168fe1a 100644
--- a/systems/framework/context.h
+++ b/systems/framework/context.h
@@ -206,16 +206,6 @@ class Context : public ContextBase {
     return get_parameters().get_abstract_parameter(index);
   }
 
-#ifndef DRAKE_DOXYGEN_CXX
-  DRAKE_DEPRECATED("2019-07-01", "Use num_discrete_state_groups() instead.")
-  int get_num_discrete_state_groups() const {
-    return num_discrete_state_groups();
-  }
-  DRAKE_DEPRECATED("2019-07-01", "Use num_abstract_states() instead.")
-  int get_num_abstract_states() const { return num_abstract_states(); }
-  DRAKE_DEPRECATED("2019-07-01", "Use num_total_states() instead.")
-  int get_num_total_states() const { return num_total_states(); }
-#endif
   //@}
 
   /// @anchor context_value_change_methods
@@ -548,12 +538,6 @@ class Context : public ContextBase {
     PropagateAccuracyChange(this, accuracy, change_event);
   }
 
-#ifndef DRAKE_DOXYGEN_CXX
-  DRAKE_DEPRECATED("2019-07-01", "Use SetTime() instead.")
-  void set_time(const T& time_sec) { SetTime(time_sec); }
-  DRAKE_DEPRECATED("2019-07-01", "Use SetAccuracy() instead.")
-  void set_accuracy(const optional<double>& accuracy) { SetAccuracy(accuracy); }
-#endif
   //@}
 
   /// @anchor dangerous_context_value_change_methods
diff --git a/systems/framework/context_base.h b/systems/framework/context_base.h
index 6b3d7a042f50..ca5eb0f98ec2 100644
--- a/systems/framework/context_base.h
+++ b/systems/framework/context_base.h
@@ -262,13 +262,6 @@ class ContextBase : public internal::ContextMessageInterface {
     return ++context->current_change_event_;
   }
 
-#ifndef DRAKE_DOXYGEN_CXX
-  DRAKE_DEPRECATED("2019-07-01", "Use num_input_ports() instead.")
-  int get_num_input_ports() const { return num_input_ports(); }
-  DRAKE_DEPRECATED("2019-07-01", "Use num_output_ports() instead.")
-  int get_num_output_ports() const { return num_output_ports(); }
-#endif
-
  protected:
   /** Default constructor creates an empty ContextBase but initializes all the
   built-in dependency trackers that are the same in every System (like time,
diff --git a/systems/framework/leaf_system.h b/systems/framework/leaf_system.h
index 17fc097e5203..625109659a57 100644
--- a/systems/framework/leaf_system.h
+++ b/systems/framework/leaf_system.h
@@ -2261,77 +2261,6 @@ class LeafSystem : public System<T> {
         this, description, direction_type, calc, e.Clone());
   }
 
-  template <class MySystem>
-  DRAKE_DEPRECATED("2019-07-01", "Please use MakeWitnessFunction().")
-  std::unique_ptr<WitnessFunction<T>> DeclareWitnessFunction(
-      const std::string& description,
-      const WitnessFunctionDirection& direction_type,
-      T (MySystem::*calc)(const Context<T>&) const) const {
-    return MakeWitnessFunction(description, direction_type, calc);
-  }
-
-  DRAKE_DEPRECATED("2019-07-01", "Please use MakeWitnessFunction().")
-  std::unique_ptr<WitnessFunction<T>> DeclareWitnessFunction(
-      const std::string& description,
-      const WitnessFunctionDirection& direction_type,
-      std::function<T(const Context<T>&)> calc) const {
-    return MakeWitnessFunction(description, direction_type, calc);
-  }
-
-  template <class MySystem>
-  DRAKE_DEPRECATED("2019-07-01", "Please use MakeWitnessFunction().")
-  std::unique_ptr<WitnessFunction<T>> DeclareWitnessFunction(
-      const std::string& description,
-      const WitnessFunctionDirection& direction_type,
-      T (MySystem::*calc)(const Context<T>&) const,
-      void (MySystem::*publish_callback)(
-          const Context<T>&, const PublishEvent<T>&) const) const {
-    return MakeWitnessFunction(description, direction_type, calc,
-        publish_callback);
-  }
-
-  template <class MySystem>
-  DRAKE_DEPRECATED("2019-07-01", "Please use MakeWitnessFunction().")
-  std::unique_ptr<WitnessFunction<T>> DeclareWitnessFunction(
-      const std::string& description,
-      const WitnessFunctionDirection& direction_type,
-      T (MySystem::*calc)(const Context<T>&) const,
-      void (MySystem::*du_callback)(const Context<T>&,
-                                    const DiscreteUpdateEvent<T>&,
-                                    DiscreteValues<T>*) const) const {
-    return MakeWitnessFunction(description, direction_type, calc, du_callback);
-  }
-
-  template <class MySystem>
-  DRAKE_DEPRECATED("2019-07-01", "Please use MakeWitnessFunction().")
-  std::unique_ptr<WitnessFunction<T>> DeclareWitnessFunction(
-      const std::string& description,
-      const WitnessFunctionDirection& direction_type,
-      T (MySystem::*calc)(const Context<T>&) const,
-      void (MySystem::*uu_callback)(const Context<T>&,
-                                    const UnrestrictedUpdateEvent<T>&,
-                                    State<T>*) const) const {
-    return MakeWitnessFunction(description, direction_type, calc, uu_callback);
-  }
-
-  template <class MySystem>
-  DRAKE_DEPRECATED("2019-07-01", "Please use MakeWitnessFunction().")
-  std::unique_ptr<WitnessFunction<T>> DeclareWitnessFunction(
-      const std::string& description,
-      const WitnessFunctionDirection& direction_type,
-      T (MySystem::*calc)(const Context<T>&) const,
-      const Event<T>& e) const {
-    return MakeWitnessFunction(description, direction_type, calc, e);
-  }
-
-  DRAKE_DEPRECATED("2019-07-01", "Please use MakeWitnessFunction().")
-  std::unique_ptr<WitnessFunction<T>> DeclareWitnessFunction(
-      const std::string& description,
-      const WitnessFunctionDirection& direction_type,
-      std::function<T(const Context<T>&)> calc,
-      const Event<T>& e) const {
-    return MakeWitnessFunction(description, direction_type, calc, e);
-  }
   //@}
 
   /// Declares a system constraint of the form
diff --git a/systems/framework/system.h b/systems/framework/system.h
index 98a19b7d5222..b0e4878a429b 100644
--- a/systems/framework/system.h
+++ b/systems/framework/system.h
@@ -1634,17 +1634,6 @@ class System : public SystemBase {
 
   // Don't promote output_port_ticket() since it is for internal use only.
 
-#ifndef DRAKE_DOXYGEN_CXX
-  DRAKE_DEPRECATED("2019-07-01", "Use num_continuous_states() instead.")
-  int get_num_continuous_states() const { return num_continuous_states(); }
-  DRAKE_DEPRECATED("2019-07-01", "Use num_constraints() instead.")
-  int get_num_constraints() const { return num_constraints(); }
-  DRAKE_DEPRECATED("2019-07-01", "Use num_constraint_equations() instead.")
-  int get_num_constraint_equations(const Context<T>& context) const {
-    return num_constraint_equations(context);
-  }
-#endif
-
  protected:
   /// Derived classes will implement this method to evaluate a witness function
   /// at the given context.
diff --git a/systems/framework/system_base.h b/systems/framework/system_base.h
index c40f45ad9825..6d8eabadc90e 100644
--- a/systems/framework/system_base.h
+++ b/systems/framework/system_base.h
@@ -769,25 +769,6 @@ class SystemBase : public internal::SystemMessageInterface {
   }
   //@}
 
-#ifndef DRAKE_DOXYGEN_CXX
-  DRAKE_DEPRECATED("2019-07-01", "Use num_total_inputs() instead.")
-  int get_num_total_inputs() const {
-    return num_total_inputs();
-  }
-  DRAKE_DEPRECATED("2019-07-01", "Use num_total_outputs() instead.")
-  int get_num_total_outputs() const {
-    return num_total_outputs();
-  }
-  DRAKE_DEPRECATED("2019-07-01", "Use num_input_ports() instead.")
-  int get_num_input_ports() const {
-    return num_input_ports();
-  }
-  DRAKE_DEPRECATED("2019-07-01", "Use num_output_ports() instead.")
-  int get_num_output_ports() const {
-    return num_output_ports();
-  }
-#endif
-
  protected:
   /** (Internal use only) Default constructor. */
   SystemBase() = default;
diff --git a/systems/framework/system_output.h b/systems/framework/system_output.h
index 9a6d0738a9c1..9e1145f6428f 100644
--- a/systems/framework/system_output.h
+++ b/systems/framework/system_output.h
@@ -77,11 +77,6 @@ class SystemOutput {
     return &port_values_[index]->template get_mutable_value<BasicVector<T>>();
   }
 
-#ifndef DRAKE_DOXYGEN_CXX
-  DRAKE_DEPRECATED("2019-07-01", "Use num_ports() instead.")
-  int get_num_ports() const { return num_ports(); }
-#endif
-
  private:
   friend class System<T>;
   friend class SystemOutputTest;