Michael Jackson starred in a 1991 episode of The Simpsons, which will now be removed from air across platforms.
The show's long-time producer, James L Brooks, said it felt like the right choice.
"It feels clearly the only choice to make," he told the Wall Street Journal.
The episode Stark Raving Dad featured Jackson as a patient in a psychiatric hospital who thinks he's a pop star and ends up rooming with Homer Simpson.
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Brooks said the decision was made alongside the show's creator, Matt Groening, as well as former showrunner Al Jean.
The trio watched HBO's Leaving Neverland, where details of two men's allegations against Jackson are detailed.
In Leaving Neverland, Jackson is accused of sexually molesting the men while they were minors.
"The documentary gave evidence of this monstrous behaviour," Brooks told WSJ.
"This was a treasured episode. There are a lot of great memories we wrapped up in this one, and this certainly doesn't allow them to remain," he said.
Although the process of removing the episode from all platforms will be a lengthy one, Brooks says that the process has started.