diff --git a/r/NEWS.md b/r/NEWS.md
index cd8c31fb8b0..312f99e3f41 100644
--- a/r/NEWS.md
+++ b/r/NEWS.md
@@ -45,6 +45,7 @@ Over 100 functions can now be called on Arrow objects inside a `dplyr` verb:
 * `write_dataset()` now defaults to `format = "parquet"` and better validates the `format` argument
 * Invalid input for `schema` in `open_dataset()` is now correctly handled
 * Collecting 0 columns from a Dataset now no longer returns all of the columns
+* The `Scanner$Scan()` method has been removed; use `Scanner$ScanBatches()`
 
 ## Other improvements
 
diff --git a/r/R/arrowExports.R b/r/R/arrowExports.R
index c432a135524..51cdcf85df0 100644
--- a/r/R/arrowExports.R
+++ b/r/R/arrowExports.R
@@ -512,10 +512,6 @@ dataset___Scanner__head <- function(scanner, n){
     .Call(`_arrow_dataset___Scanner__head`, scanner, n)
 }
 
-dataset___Scanner__Scan <- function(scanner){
-    .Call(`_arrow_dataset___Scanner__Scan`, scanner)
-}
-
 dataset___Scanner__schema <- function(sc){
     .Call(`_arrow_dataset___Scanner__schema`, sc)
 }
diff --git a/r/R/dataset-scan.R b/r/R/dataset-scan.R
index 8bec8978098..750401e1736 100644
--- a/r/R/dataset-scan.R
+++ b/r/R/dataset-scan.R
@@ -56,12 +56,7 @@
 Scanner <- R6Class("Scanner", inherit = ArrowObject,
   public = list(
     ToTable = function() dataset___Scanner__ToTable(self),
-    ScanBatches = function() dataset___Scanner__ScanBatches(self),
-    Scan = function() {
-        # Planned for removal in ARROW-11782
-        .Deprecated("ScanBatches")
-        dataset___Scanner__Scan(self)
-    }
+    ScanBatches = function() dataset___Scanner__ScanBatches(self)
   ),
   active = list(
     schema = function() dataset___Scanner__schema(self)
diff --git a/r/src/arrowExports.cpp b/r/src/arrowExports.cpp
index 42532e6c3c2..87f0130eeff 100644
--- a/r/src/arrowExports.cpp
+++ b/r/src/arrowExports.cpp
@@ -2015,21 +2015,6 @@ extern "C" SEXP _arrow_dataset___Scanner__head(SEXP scanner_sexp, SEXP n_sexp){
 }
 #endif
 
-// dataset.cpp
-#if defined(ARROW_R_WITH_DATASET)
-cpp11::list dataset___Scanner__Scan(const std::shared_ptr<ds::Scanner>& scanner);
-extern "C" SEXP _arrow_dataset___Scanner__Scan(SEXP scanner_sexp){
-BEGIN_CPP11
-	arrow::r::Input<const std::shared_ptr<ds::Scanner>&>::type scanner(scanner_sexp);
-	return cpp11::as_sexp(dataset___Scanner__Scan(scanner));
-END_CPP11
-}
-#else
-extern "C" SEXP _arrow_dataset___Scanner__Scan(SEXP scanner_sexp){
-	Rf_error("Cannot call dataset___Scanner__Scan(). See https://arrow.apache.org/docs/r/articles/install.html for help installing Arrow C++ libraries. ");
-}
-#endif
-
 // dataset.cpp
 #if defined(ARROW_R_WITH_DATASET)
 std::shared_ptr<arrow::Schema> dataset___Scanner__schema(const std::shared_ptr<ds::Scanner>& sc);
@@ -6747,7 +6732,6 @@ static const R_CallMethodDef CallEntries[] = {
 		{ "_arrow_dataset___Scanner__ToTable", (DL_FUNC) &_arrow_dataset___Scanner__ToTable, 1}, 
 		{ "_arrow_dataset___Scanner__ScanBatches", (DL_FUNC) &_arrow_dataset___Scanner__ScanBatches, 1}, 
 		{ "_arrow_dataset___Scanner__head", (DL_FUNC) &_arrow_dataset___Scanner__head, 2}, 
-		{ "_arrow_dataset___Scanner__Scan", (DL_FUNC) &_arrow_dataset___Scanner__Scan, 1}, 
 		{ "_arrow_dataset___Scanner__schema", (DL_FUNC) &_arrow_dataset___Scanner__schema, 1}, 
 		{ "_arrow_dataset___ScanTask__get_batches", (DL_FUNC) &_arrow_dataset___ScanTask__get_batches, 1}, 
 		{ "_arrow_dataset___Dataset__Write", (DL_FUNC) &_arrow_dataset___Dataset__Write, 6}, 
diff --git a/r/src/dataset.cpp b/r/src/dataset.cpp
index af321d75db6..7c6e44964bf 100644
--- a/r/src/dataset.cpp
+++ b/r/src/dataset.cpp
@@ -450,35 +450,6 @@ std::shared_ptr<arrow::Table> dataset___Scanner__head(
   return ValueOrStop(arrow::Table::FromRecordBatches(std::move(batches)));
 }
 
-// TODO (ARROW-11782) Remove calls to Scan()
-#if defined(__GNUC__) || defined(__clang__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable : 4996)
-#endif
-
-// [[dataset::export]]
-cpp11::list dataset___Scanner__Scan(const std::shared_ptr<ds::Scanner>& scanner) {
-  auto it = ValueOrStop(scanner->Scan());
-  std::vector<std::shared_ptr<ds::ScanTask>> out;
-  std::shared_ptr<ds::ScanTask> scan_task;
-  // TODO(npr): can this iteration be parallelized?
-  for (auto st : it) {
-    scan_task = ValueOrStop(st);
-    out.push_back(scan_task);
-  }
-
-  return arrow::r::to_r_list(out);
-}
-
-#if defined(__GNUC__) || defined(__clang__)
-#pragma GCC diagnostic pop
-#elif defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
 // [[dataset::export]]
 std::shared_ptr<arrow::Schema> dataset___Scanner__schema(
     const std::shared_ptr<ds::Scanner>& sc) {
diff --git a/r/tests/testthat/test-dataset.R b/r/tests/testthat/test-dataset.R
index eb7408c982f..4570c1f5762 100644
--- a/r/tests/testthat/test-dataset.R
+++ b/r/tests/testthat/test-dataset.R
@@ -1345,14 +1345,6 @@ test_that("Dataset and query print methods", {
   )
 })
 
-test_that("Scanner$Scan is deprecated", {
-  ds <- open_dataset(ipc_dir, partitioning = "part", format = "feather")
-  expect_deprecated(
-    ds$NewScan()$Finish()$Scan(),
-    "ScanBatches"
-  )
-})
-
 test_that("Scanner$ScanBatches", {
   ds <- open_dataset(ipc_dir, format = "feather")
   batches <- ds$NewScan()$Finish()$ScanBatches()
@@ -1388,7 +1380,7 @@ test_that("Assembling a Dataset manually and getting a Table", {
   fmt <- FileFormat$create("parquet")
   factory <- FileSystemDatasetFactory$create(fs, selector, NULL, fmt, partitioning = partitioning)
   expect_r6_class(factory, "FileSystemDatasetFactory")
-  
+
   schm <- factory$Inspect()
   expect_r6_class(schm, "Schema")