diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6d57e787..da64c43d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,7 @@
 ## 6.0.0 / unreleased
 
 * [BUGFIX] Verify host path consistency by default ([#91](https://github.com/enriclluelles/route_translator/issues/91), [#171](https://github.com/enriclluelles/route_translator/issues/171))
+* [FEATURE] Remove Engine support ([#166](https://github.com/enriclluelles/route_translator/issues/91), [#166](https://github.com/enriclluelles/route_translator/issues/172))
 * [FEATURE] Remove the option to verify host path consistency
 * [ENHANCEMENT] Avoid duplicate routes when using host_locales ([#87](https://github.com/enriclluelles/route_translator/issues/87), [#171](https://github.com/enriclluelles/route_translator/issues/171))
 
diff --git a/lib/route_translator/extensions/mapper.rb b/lib/route_translator/extensions/mapper.rb
index 0816adf5..60a73d5a 100644
--- a/lib/route_translator/extensions/mapper.rb
+++ b/lib/route_translator/extensions/mapper.rb
@@ -41,16 +41,6 @@ def add_route(action, controller, options, _path, to, via, formatted, anchor, op
         @set.add_localized_route(mapping, ast, as, anchor, @scope, path, controller, default_action, to, via, formatted, options_constraints, options)
       end
       # rubocop:enable Lint/UnderscorePrefixedVariableName
-
-      private
-
-      def define_generate_prefix(app, name)
-        return super unless @localized
-
-        RouteTranslator::Translator.available_locales.each do |locale|
-          super(app, "#{name}_#{locale.to_s.underscore}")
-        end
-      end
     end
   end
 end
diff --git a/lib/route_translator/translator.rb b/lib/route_translator/translator.rb
index 8f19049e..6e38b39e 100644
--- a/lib/route_translator/translator.rb
+++ b/lib/route_translator/translator.rb
@@ -9,6 +9,15 @@ module Translator
     class << self
       private
 
+      def available_locales
+        locales = RouteTranslator.available_locales
+        # Make sure the default locale is translated in last place to avoid
+        # problems with wildcards when default locale is omitted in paths. The
+        # default routes will catch all paths like wildcard if it is translated first.
+        locales.delete I18n.default_locale
+        locales.push I18n.default_locale
+      end
+
       def locale_from_args(args)
         args_hash = args.detect { |arg| arg.is_a?(Hash) }
         args_hash[:locale] if RouteTranslator.config.host_locales.present? && args_hash
@@ -50,15 +59,6 @@ def translate_path(path, locale, scope)
 
     module_function
 
-    def available_locales
-      locales = RouteTranslator.available_locales
-      # Make sure the default locale is translated in last place to avoid
-      # problems with wildcards when default locale is omitted in paths. The
-      # default routes will catch all paths like wildcard if it is translated first.
-      locales.delete I18n.default_locale
-      locales.push I18n.default_locale
-    end
-
     def translations_for(route)
       RouteTranslator::Translator::RouteHelpers.add route.name, route.route_set.named_routes
 
diff --git a/test/dummy/app/controllers/blorgh/posts_controller.rb b/test/dummy/app/controllers/blorgh/posts_controller.rb
deleted file mode 100644
index 7318e512..00000000
--- a/test/dummy/app/controllers/blorgh/posts_controller.rb
+++ /dev/null
@@ -1,9 +0,0 @@
-# frozen_string_literal: true
-
-module Blorgh
-  class PostsController < ActionController::Base
-    def index
-      render plain: I18n.locale
-    end
-  end
-end
diff --git a/test/dummy/app/controllers/dummy_controller.rb b/test/dummy/app/controllers/dummy_controller.rb
index 8bf28bfe..6f72ea0c 100644
--- a/test/dummy/app/controllers/dummy_controller.rb
+++ b/test/dummy/app/controllers/dummy_controller.rb
@@ -13,14 +13,6 @@ def suffix
     render plain: params[:id]
   end
 
-  def engine_es
-    render plain: blorgh_es.posts_path
-  end
-
-  def engine
-    render plain: blorgh.posts_path
-  end
-
   def slash
     render plain: request.env['PATH_INFO']
   end
diff --git a/test/dummy/config/initializers/blorgh.rb b/test/dummy/config/initializers/blorgh.rb
deleted file mode 100644
index 6bd62704..00000000
--- a/test/dummy/config/initializers/blorgh.rb
+++ /dev/null
@@ -1,11 +0,0 @@
-# frozen_string_literal: true
-
-module Blorgh
-  class Engine < Rails::Engine
-    isolate_namespace Blorgh
-  end
-end
-
-Blorgh::Engine.routes.draw do
-  resources :posts, only: :index
-end
diff --git a/test/dummy/config/routes.rb b/test/dummy/config/routes.rb
index 063c3875..443e2bce 100644
--- a/test/dummy/config/routes.rb
+++ b/test/dummy/config/routes.rb
@@ -1,8 +1,6 @@
 # frozen_string_literal: true
 
 Rails.application.routes.draw do
-  mount Blorgh::Engine, at: '/blorgh'
-
   localized do
     get 'dummy',  to: 'dummy#dummy'
     get 'show',   to: 'dummy#show'
@@ -13,14 +11,10 @@
     get 'prefixed_optional(/p-:page)', to: 'dummy#prefixed_optional', as: :prefixed_optional
 
     get ':id-suffix', to: 'dummy#suffix'
-
-    mount Blorgh::Engine, at: '/blorgh'
   end
 
   get 'partial_caching', to: 'dummy#partial_caching'
   get 'native', to: 'dummy#native'
-  get 'engine_es', to: 'dummy#engine_es'
-  get 'engine', to: 'dummy#engine'
 
   root to: 'dummy#dummy'
 end
diff --git a/test/integration/engine_test.rb b/test/integration/engine_test.rb
deleted file mode 100644
index 98d6dc02..00000000
--- a/test/integration/engine_test.rb
+++ /dev/null
@@ -1,27 +0,0 @@
-# frozen_string_literal: true
-
-require 'test_helper'
-
-class RoutingTest < ActionDispatch::IntegrationTest
-  include RouteTranslator::ConfigurationHelper
-
-  def test_with_engine_inside_localized_block
-    get '/engine_es'
-    assert_response :success
-
-    url =
-      if Rails.version < '5.1.3'
-        '/blorgh/posts'
-      else
-        '/es/blorgh/posts'
-      end
-
-    assert_equal url, response.body
-  end
-
-  def test_with_engine_outside_localized_block
-    get '/engine'
-    assert_response :success
-    assert_equal '/blorgh/posts', response.body
-  end
-end