diff --git a/homeassistant/components/mqtt/vacuum.py b/homeassistant/components/mqtt/vacuum.py
index fb988751d6b..eac3556a28b 100644
--- a/homeassistant/components/mqtt/vacuum.py
+++ b/homeassistant/components/mqtt/vacuum.py
@@ -170,6 +170,15 @@ def _fail_legacy_config(discovery: bool) -> Callable[[ConfigType], ConfigType]:
             )
 
         if discovery:
+            _LOGGER.warning(
+                "The `schema` option is deprecated for MQTT %s, but "
+                "it was used in a discovery payload. Please contact the maintainer "
+                "of the integration or service that supplies the config, and suggest "
+                "to remove the option. Got %s at discovery topic %s",
+                vacuum.DOMAIN,
+                config,
+                getattr(config, "discovery_data")["discovery_topic"],
+            )
             return config
 
         translation_key = "deprecation_mqtt_schema_vacuum_yaml"
diff --git a/tests/components/mqtt/test_vacuum.py b/tests/components/mqtt/test_vacuum.py
index 7563752b2d7..0a06759c7e6 100644
--- a/tests/components/mqtt/test_vacuum.py
+++ b/tests/components/mqtt/test_vacuum.py
@@ -2,6 +2,7 @@
 
 from copy import deepcopy
 import json
+import logging
 from typing import Any
 from unittest.mock import patch
 
@@ -12,7 +13,6 @@ from homeassistant.components.mqtt import vacuum as mqttvacuum
 from homeassistant.components.mqtt.const import CONF_COMMAND_TOPIC, CONF_STATE_TOPIC
 from homeassistant.components.mqtt.vacuum import (
     ALL_SERVICES,
-    CONF_SCHEMA,
     MQTT_VACUUM_ATTRIBUTES_BLOCKED,
     SERVICE_TO_STRING,
     services_to_strings,
@@ -77,7 +77,6 @@ STATE_TOPIC = "vacuum/state"
 DEFAULT_CONFIG = {
     mqtt.DOMAIN: {
         vacuum.DOMAIN: {
-            CONF_SCHEMA: "state",
             CONF_NAME: "mqtttest",
             CONF_COMMAND_TOPIC: COMMAND_TOPIC,
             mqttvacuum.CONF_SEND_COMMAND_TOPIC: SEND_COMMAND_TOPIC,
@@ -88,7 +87,7 @@ DEFAULT_CONFIG = {
     }
 }
 
-DEFAULT_CONFIG_2 = {mqtt.DOMAIN: {vacuum.DOMAIN: {"schema": "state", "name": "test"}}}
+DEFAULT_CONFIG_2 = {mqtt.DOMAIN: {vacuum.DOMAIN: {"name": "test"}}}
 
 CONFIG_ALL_SERVICES = help_custom_config(
     vacuum.DOMAIN,
@@ -103,6 +102,35 @@ CONFIG_ALL_SERVICES = help_custom_config(
 )
 
 
+async def test_warning_schema_option(
+    hass: HomeAssistant,
+    mqtt_mock_entry: MqttMockHAClientGenerator,
+    caplog: pytest.LogCaptureFixture,
+) -> None:
+    """Test the warning on use of deprecated schema option."""
+    await mqtt_mock_entry()
+    # Send discovery message with deprecated schema option
+    async_fire_mqtt_message(
+        hass,
+        f"homeassistant/{vacuum.DOMAIN}/bla/config",
+        '{"name": "test", "schema": "state", "o": {"name": "Bla2MQTT", "sw": "0.99", "url":"https://example.com/support"}}',
+    )
+    await hass.async_block_till_done()
+    await hass.async_block_till_done(wait_background_tasks=True)
+
+    state = hass.states.get("vacuum.test")
+    assert state is not None
+    with caplog.at_level(logging.WARNING):
+        assert (
+            "The `schema` option is deprecated for MQTT vacuum, but it was used in a "
+            "discovery payload. Please contact the maintainer of the integration or "
+            "service that supplies the config, and suggest to remove the option."
+            in caplog.text
+        )
+        assert "https://example.com/support" in caplog.text
+        assert "at discovery topic homeassistant/vacuum/bla/config" in caplog.text
+
+
 @pytest.mark.parametrize("hass_config", [DEFAULT_CONFIG])
 async def test_default_supported_features(
     hass: HomeAssistant, mqtt_mock_entry: MqttMockHAClientGenerator
@@ -261,7 +289,6 @@ async def test_commands_without_supported_features(
             "mqtt": {
                 "vacuum": {
                     "name": "test",
-                    "schema": "state",
                     mqttvacuum.CONF_SUPPORTED_FEATURES: services_to_strings(
                         ALL_SERVICES, SERVICE_TO_STRING
                     ),
@@ -525,13 +552,11 @@ async def test_discovery_update_attr(
             mqtt.DOMAIN: {
                 vacuum.DOMAIN: [
                     {
-                        "schema": "state",
                         "name": "Test 1",
                         "command_topic": "command-topic",
                         "unique_id": "TOTALLY_UNIQUE",
                     },
                     {
-                        "schema": "state",
                         "name": "Test 2",
                         "command_topic": "command-topic",
                         "unique_id": "TOTALLY_UNIQUE",
@@ -554,7 +579,7 @@ async def test_discovery_removal_vacuum(
     caplog: pytest.LogCaptureFixture,
 ) -> None:
     """Test removal of discovered vacuum."""
-    data = '{ "schema": "state", "name": "test", "command_topic": "test_topic"}'
+    data = '{"name": "test", "command_topic": "test_topic"}'
     await help_test_discovery_removal(
         hass, mqtt_mock_entry, caplog, vacuum.DOMAIN, data
     )
@@ -566,8 +591,8 @@ async def test_discovery_update_vacuum(
     caplog: pytest.LogCaptureFixture,
 ) -> None:
     """Test update of discovered vacuum."""
-    config1 = {"schema": "state", "name": "Beer", "command_topic": "test_topic"}
-    config2 = {"schema": "state", "name": "Milk", "command_topic": "test_topic"}
+    config1 = {"name": "Beer", "command_topic": "test_topic"}
+    config2 = {"name": "Milk", "command_topic": "test_topic"}
     await help_test_discovery_update(
         hass, mqtt_mock_entry, caplog, vacuum.DOMAIN, config1, config2
     )
@@ -579,7 +604,7 @@ async def test_discovery_update_unchanged_vacuum(
     caplog: pytest.LogCaptureFixture,
 ) -> None:
     """Test update of discovered vacuum."""
-    data1 = '{ "schema": "state", "name": "Beer", "command_topic": "test_topic"}'
+    data1 = '{"name": "Beer", "command_topic": "test_topic"}'
     with patch(
         "homeassistant.components.mqtt.vacuum.MqttStateVacuum.discovery_update"
     ) as discovery_update:
@@ -600,8 +625,8 @@ async def test_discovery_broken(
     caplog: pytest.LogCaptureFixture,
 ) -> None:
     """Test handling of bad discovery message."""
-    data1 = '{ "schema": "state", "name": "Beer", "command_topic": "test_topic#"}'
-    data2 = '{ "schema": "state", "name": "Milk", "command_topic": "test_topic"}'
+    data1 = '{"name": "Beer", "command_topic": "test_topic#"}'
+    data2 = '{"name": "Milk", "command_topic": "test_topic"}'
     await help_test_discovery_broken(
         hass, mqtt_mock_entry, caplog, vacuum.DOMAIN, data1, data2
     )