diff --git a/core/src/main/java/org/apache/struts2/dispatcher/mapper/Restful2ActionMapper.java b/core/src/main/java/org/apache/struts2/dispatcher/mapper/Restful2ActionMapper.java
index 988c23943c..d0332c301f 100644
--- a/core/src/main/java/org/apache/struts2/dispatcher/mapper/Restful2ActionMapper.java
+++ b/core/src/main/java/org/apache/struts2/dispatcher/mapper/Restful2ActionMapper.java
@@ -33,7 +33,11 @@
 /**
  * Extended version of {@link RestfulActionMapper}, see documentation for more details
  * <a href="https://struts.apache.org/core-developers/restful-action-mapper.html">Restful2ActionMapper</a>
+ *
+ * @deprecated since 7.4.0, this legacy mapper predates the Struts REST plugin, which is the maintained
+ * way to build REST-style applications with Struts. Scheduled for removal in the next major release.
  */
+@Deprecated(forRemoval = true)
 public class Restful2ActionMapper extends DefaultActionMapper {
 
     private static final Logger LOG = LogManager.getLogger(Restful2ActionMapper.class);
diff --git a/core/src/main/java/org/apache/struts2/dispatcher/mapper/RestfulActionMapper.java b/core/src/main/java/org/apache/struts2/dispatcher/mapper/RestfulActionMapper.java
index d93d45e98f..2a77350834 100644
--- a/core/src/main/java/org/apache/struts2/dispatcher/mapper/RestfulActionMapper.java
+++ b/core/src/main/java/org/apache/struts2/dispatcher/mapper/RestfulActionMapper.java
@@ -34,7 +34,11 @@
  * Simple Restfull Action Mapper to support REST application
  * See docs for more information
  * <a href="https://struts.apache.org/core-developers/restful-action-mapper.html">RestfulActionMapper</a>
+ *
+ * @deprecated since 7.4.0, this legacy mapper predates the Struts REST plugin, which is the maintained
+ * way to build REST-style applications with Struts. Scheduled for removal in the next major release.
  */
+@Deprecated(forRemoval = true)
 public class RestfulActionMapper implements ActionMapper {
 
     protected static final Logger LOG = LogManager.getLogger(RestfulActionMapper.class);
diff --git a/core/src/main/resources/struts-beans.xml b/core/src/main/resources/struts-beans.xml
index 8ad4dff8be..e53710c229 100644
--- a/core/src/main/resources/struts-beans.xml
+++ b/core/src/main/resources/struts-beans.xml
@@ -79,6 +79,8 @@
           class="org.apache.struts2.dispatcher.mapper.CompositeActionMapper"/>
     <bean type="org.apache.struts2.dispatcher.mapper.ActionMapper" name="prefix"
           class="org.apache.struts2.dispatcher.mapper.PrefixBasedActionMapper"/>
+    <!-- Deprecated for removal: the legacy "restful" and "restful2" mappers predate the Struts REST
+         plugin, which is the maintained way to build REST-style applications. -->
     <bean type="org.apache.struts2.dispatcher.mapper.ActionMapper" name="restful"
           class="org.apache.struts2.dispatcher.mapper.RestfulActionMapper"/>
     <bean type="org.apache.struts2.dispatcher.mapper.ActionMapper" name="restful2"