diff --git a/.ci/Dockerfile.kinetic b/.ci/Dockerfile.kinetic
deleted file mode 100644
index c8c33f04e..000000000
--- a/.ci/Dockerfile.kinetic
+++ /dev/null
@@ -1,15 +0,0 @@
-FROM osrf/ros:kinetic-desktop-xenial
-RUN apt-get update -y && apt-get install -y --allow-unauthenticated \
-    clang-6.0 \
-    clang-format-6.0 \
-    clang-tidy-6.0 \
-    python3-pip \
-    ros-kinetic-libfranka \
-    ros-kinetic-ros-control \
-    ros-kinetic-eigen-conversions \
-    ros-kinetic-gazebo-dev \
-    ros-kinetic-gazebo-ros-control \
-    ros-kinetic-orocos-kdl \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN pip3 install -U catkin_tools
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 30d46e6e9..04136ee11 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -7,7 +7,6 @@ on:
 
   pull_request:
     branches:
-    - kinetic-devel
     - melodic-devel
     - noetic-devel
     - develop
@@ -17,7 +16,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        ros_distro: [ kinetic, melodic, noetic ]
+        ros_distro: [ melodic, noetic ]
     steps:
     - name: Prepare
       # Keep the compilation outputs persitant outside the docker container to use for the other steps
diff --git a/CHANGELOG.md b/CHANGELOG.md
index e8de4e2ff..158d88e6a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,7 @@
 ## 0.x - UNRELEASED
 
 * Add `joint_state_desired` publisher to `franka_gazebo`
+* No further ROS Kinetic support, since [End-of-Life was in April 2021](http://wiki.ros.org/Distributions)
 
 ## 0.8.1 - 2021-09-08
 
diff --git a/Jenkinsfile b/Jenkinsfile
index a8cc24895..4023ce710 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -63,7 +63,6 @@ node {
 }
 
 parallel(
-  'kinetic': getStages('kinetic', 'xenial'),
   'melodic': getStages('melodic', 'bionic'),
   'noetic': getStages('noetic', 'focal'),
 )