diff --git a/pkg/kv/db.go b/pkg/kv/db.go
index d48e8155d758..1d50f56ad0d1 100644
--- a/pkg/kv/db.go
+++ b/pkg/kv/db.go
@@ -951,7 +951,9 @@ func runTxn(ctx context.Context, txn *Txn, retryable func(context.Context, *Txn)
 		return retryable(ctx, txn)
 	})
 	if err != nil {
-		txn.CleanupOnError(ctx, err)
+		if rollbackErr := txn.Rollback(ctx); rollbackErr != nil {
+			log.Eventf(ctx, "failure aborting transaction: %s; abort caused by: %s", rollbackErr, err)
+		}
 	}
 	// Terminate TransactionRetryWithProtoRefreshError here, so it doesn't cause a higher-level
 	// txn to be retried. We don't do this in any of the other functions in DB; I
diff --git a/pkg/kv/kvclient/kvcoord/integration_test.go b/pkg/kv/kvclient/kvcoord/integration_test.go
index 38007282a06c..8fbb65265285 100644
--- a/pkg/kv/kvclient/kvcoord/integration_test.go
+++ b/pkg/kv/kvclient/kvcoord/integration_test.go
@@ -22,11 +22,11 @@ import (
 	"github.com/cockroachdb/cockroach/pkg/kv/kvserver/kvserverbase"
 	"github.com/cockroachdb/cockroach/pkg/kv/kvserver/txnwait"
 	"github.com/cockroachdb/cockroach/pkg/roachpb"
-	"github.com/cockroachdb/cockroach/pkg/testutils"
 	"github.com/cockroachdb/cockroach/pkg/testutils/serverutils"
 	"github.com/cockroachdb/cockroach/pkg/util/leaktest"
 	"github.com/cockroachdb/cockroach/pkg/util/log"
 	"github.com/cockroachdb/cockroach/pkg/util/uuid"
+	"github.com/stretchr/testify/require"
 )
 
 // This file contains contains integration tests that don't fit anywhere else.
@@ -177,9 +177,8 @@ func TestWaiterOnRejectedCommit(t *testing.T) {
 	<-readerBlocked
 	<-readerBlocked
 
-	if err := txn.CommitOrCleanup(ctx); !testutils.IsError(err, "test injected err") {
-		t.Fatalf("expected injected err, got: %v", err)
-	}
+	require.ErrorContains(t, txn.Commit(ctx), "test injected err", "expected injected error")
+	require.NoError(t, txn.Rollback(ctx))
 	// Wait for the txn wait queue to be pinged and check the status.
 	if status := <-txnUpdate; status != roachpb.ABORTED {
 		t.Fatalf("expected the wait queue to be updated with an Aborted txn, instead got: %s", status)
diff --git a/pkg/kv/kvclient/kvcoord/txn_coord_sender_savepoints_test.go b/pkg/kv/kvclient/kvcoord/txn_coord_sender_savepoints_test.go
index 009c1ba4cd5b..c1e8854de246 100644
--- a/pkg/kv/kvclient/kvcoord/txn_coord_sender_savepoints_test.go
+++ b/pkg/kv/kvclient/kvcoord/txn_coord_sender_savepoints_test.go
@@ -94,7 +94,7 @@ func TestSavepoints(t *testing.T) {
 				ptxn()
 
 			case "commit":
-				if err := txn.CommitOrCleanup(ctx); err != nil {
+				if err := txn.Commit(ctx); err != nil {
 					fmt.Fprintf(&buf, "(%T) %v\n", err, err)
 				}
 
diff --git a/pkg/kv/kvclient/kvcoord/txn_coord_sender_server_test.go b/pkg/kv/kvclient/kvcoord/txn_coord_sender_server_test.go
index 4b1ee530ff0e..4899ad9ad56c 100644
--- a/pkg/kv/kvclient/kvcoord/txn_coord_sender_server_test.go
+++ b/pkg/kv/kvclient/kvcoord/txn_coord_sender_server_test.go
@@ -81,7 +81,7 @@ func TestHeartbeatFindsOutAboutAbortedTransaction(t *testing.T) {
 		if err := conflictTxn.Put(ctx, key, "pusher was here"); err != nil {
 			return err
 		}
-		return conflictTxn.CommitOrCleanup(ctx)
+		return conflictTxn.Commit(ctx)
 	}
 
 	// Make a db with a short heartbeat interval.
@@ -128,7 +128,7 @@ func TestHeartbeatFindsOutAboutAbortedTransaction(t *testing.T) {
 
 	// Check that further sends through the aborted txn are rejected. The
 	// TxnCoordSender is supposed to synthesize a TransactionAbortedError.
-	if err := txn.CommitOrCleanup(ctx); !testutils.IsError(
+	if err := txn.Commit(ctx); !testutils.IsError(
 		err, "TransactionRetryWithProtoRefreshError: TransactionAbortedError",
 	) {
 		t.Fatalf("expected aborted error, got: %s", err)
diff --git a/pkg/kv/kvclient/kvcoord/txn_coord_sender_test.go b/pkg/kv/kvclient/kvcoord/txn_coord_sender_test.go
index 69ebb445d53c..b7aa70c26b1a 100644
--- a/pkg/kv/kvclient/kvcoord/txn_coord_sender_test.go
+++ b/pkg/kv/kvclient/kvcoord/txn_coord_sender_test.go
@@ -432,7 +432,9 @@ func TestTxnCoordSenderEndTxn(t *testing.T) {
 				err := txn.UpdateDeadline(ctx, pushedTimestamp.Next())
 				require.NoError(t, err, "Deadline update to future failed")
 			}
-			err = txn.CommitOrCleanup(ctx)
+			if err = txn.Commit(ctx); err != nil {
+				require.NoError(t, txn.Rollback(ctx))
+			}
 
 			switch i {
 			case 0:
@@ -624,11 +626,9 @@ func TestTxnCoordSenderCleanupOnAborted(t *testing.T) {
 
 	// Now end the transaction and verify we've cleanup up, even though
 	// end transaction failed.
-	err := txn1.CommitOrCleanup(ctx)
+	err := txn1.Commit(ctx)
 	assertTransactionAbortedError(t, err)
-	if err := txn2.CommitOrCleanup(ctx); err != nil {
-		t.Fatal(err)
-	}
+	require.NoError(t, txn2.Commit(ctx))
 	verifyCleanup(key, s.Eng, t, txn1.Sender().(*kvcoord.TxnCoordSender), txn2.Sender().(*kvcoord.TxnCoordSender))
 }
 
@@ -655,9 +655,7 @@ func TestTxnCoordSenderCleanupOnCommitAfterRestart(t *testing.T) {
 	txn.Sender().ManualRestart(ctx, txn.UserPriority(), s.Clock.Now())
 
 	// Now immediately commit.
-	if err := txn.CommitOrCleanup(ctx); err != nil {
-		t.Fatal(err)
-	}
+	require.NoError(t, txn.Commit(ctx))
 	verifyCleanup(key, s.Eng, t, txn.Sender().(*kvcoord.TxnCoordSender))
 }
 
@@ -1322,7 +1320,10 @@ func TestTxnRestartCount(t *testing.T) {
 	})
 
 	// Commit (should cause restart metric to increase).
-	err := txn.CommitOrCleanup(ctx)
+	err := txn.Commit(ctx)
+	if err != nil {
+		require.NoError(t, txn.Rollback(ctx))
+	}
 	assertTransactionRetryError(t, err)
 	checkTxnMetrics(t, metrics, "restart txn", 0, 0, 1 /* aborts */, 1 /* restarts */)
 }
@@ -1620,9 +1621,8 @@ func TestAbortTransactionOnCommitErrors(t *testing.T) {
 			if pErr := txn.Put(ctx, "a", "b"); pErr != nil {
 				t.Fatalf("put failed: %s", pErr)
 			}
-			if pErr := txn.CommitOrCleanup(ctx); pErr == nil {
-				t.Fatalf("unexpected commit success")
-			}
+			require.Error(t, txn.Commit(ctx), "unexpected commit success")
+			require.NoError(t, txn.Rollback(ctx))
 
 			if !commit.Load().(bool) {
 				t.Errorf("%T: failed to find initial commit request", test.err)
diff --git a/pkg/kv/kvserver/client_split_test.go b/pkg/kv/kvserver/client_split_test.go
index 07afc6ee8db1..b46833e9770f 100644
--- a/pkg/kv/kvserver/client_split_test.go
+++ b/pkg/kv/kvserver/client_split_test.go
@@ -2505,7 +2505,7 @@ func TestDistributedTxnCleanup(t *testing.T) {
 				return errors.New("forced abort")
 			}
 			if err := txnFn(ctx, txn); err != nil {
-				txn.CleanupOnError(ctx, err)
+				require.NoError(t, txn.Rollback(ctx))
 				if !force && commit {
 					t.Fatalf("expected success with commit == true; got %v", err)
 				}
diff --git a/pkg/kv/kvserver/replica_command.go b/pkg/kv/kvserver/replica_command.go
index dd30a423ff59..e58abf18fe25 100644
--- a/pkg/kv/kvserver/replica_command.go
+++ b/pkg/kv/kvserver/replica_command.go
@@ -802,7 +802,9 @@ func (r *Replica) AdminMerge(
 		err := runMergeTxn(txn)
 		if err != nil {
 			log.VEventf(ctx, 2, "merge txn failed: %s", err)
-			txn.CleanupOnError(ctx, err)
+			if rollbackErr := txn.Rollback(ctx); rollbackErr != nil {
+				log.VEventf(ctx, 2, "merge txn rollback failed: %s", rollbackErr)
+			}
 		}
 		if !errors.HasType(err, (*roachpb.TransactionRetryWithProtoRefreshError)(nil)) {
 			if err != nil {
diff --git a/pkg/kv/kvserver/reports/reporter.go b/pkg/kv/kvserver/reports/reporter.go
index 9d606a49ff13..535b224fac79 100644
--- a/pkg/kv/kvserver/reports/reporter.go
+++ b/pkg/kv/kvserver/reports/reporter.go
@@ -771,8 +771,11 @@ func (r *meta2RangeIter) handleErr(ctx context.Context, err error) {
 	}
 	if !errIsRetriable(err) {
 		if r.txn != nil {
+			log.Eventf(ctx, "non-retriable error: %s", err)
 			// On any non-retriable error, rollback.
-			r.txn.CleanupOnError(ctx, err)
+			if rollbackErr := r.txn.Rollback(ctx); rollbackErr != nil {
+				log.Eventf(ctx, "rollback failed: %s", rollbackErr)
+			}
 			r.txn = nil
 		}
 		r.reset()
diff --git a/pkg/kv/txn.go b/pkg/kv/txn.go
index b675e60ddac9..b9a18e1196c5 100644
--- a/pkg/kv/txn.go
+++ b/pkg/kv/txn.go
@@ -100,9 +100,9 @@ type Txn struct {
 // Note: for KV usage that should be subject to admission control, prefer
 // NewTxnRootKV() below.
 //
-// If the transaction is used to send any operations, CommitOrCleanup() or
-// CleanupOnError() should eventually be called to commit/rollback the
-// transaction (including stopping the heartbeat loop).
+// If the transaction is used to send any operations, Commit() or Rollback()
+// should eventually be called to commit/rollback the transaction (including
+// stopping the heartbeat loop).
 //
 // gatewayNodeID: If != 0, this is the ID of the node on whose behalf this
 //
@@ -689,27 +689,7 @@ func (txn *Txn) commit(ctx context.Context) error {
 	return pErr.GoError()
 }
 
-// CleanupOnError cleans up the transaction as a result of an error.
-func (txn *Txn) CleanupOnError(ctx context.Context, err error) {
-	if txn.typ != RootTxn {
-		panic(errors.WithContextTags(errors.AssertionFailedf("CleanupOnError() called on leaf txn"), ctx))
-	}
-
-	if err == nil {
-		panic(errors.WithContextTags(errors.AssertionFailedf("CleanupOnError() called with nil error"), ctx))
-	}
-	if replyErr := txn.rollback(ctx); replyErr != nil {
-		if _, ok := replyErr.GetDetail().(*roachpb.TransactionStatusError); ok || txn.IsAborted() {
-			log.Eventf(ctx, "failure aborting transaction: %s; abort caused by: %s", replyErr, err)
-		} else {
-			log.Warningf(ctx, "failure aborting transaction: %s; abort caused by: %s", replyErr, err)
-		}
-	}
-}
-
-// Commit is the same as CommitOrCleanup but will not attempt to clean
-// up on failure. This can be used when the caller is prepared to do proper
-// cleanup.
+// Commit sends an EndTxnRequest with Commit=true.
 func (txn *Txn) Commit(ctx context.Context) error {
 	if txn.typ != RootTxn {
 		return errors.WithContextTags(errors.AssertionFailedf("Commit() called on leaf txn"), ctx)
@@ -741,21 +721,6 @@ func (txn *Txn) CommitInBatch(ctx context.Context, b *Batch) error {
 	return txn.Run(ctx, b)
 }
 
-// CommitOrCleanup sends an EndTxnRequest with Commit=true.
-// If that fails, an attempt to rollback is made.
-// txn should not be used to send any more commands after this call.
-func (txn *Txn) CommitOrCleanup(ctx context.Context) error {
-	if txn.typ != RootTxn {
-		return errors.WithContextTags(errors.AssertionFailedf("CommitOrCleanup() called on leaf txn"), ctx)
-	}
-
-	err := txn.commit(ctx)
-	if err != nil {
-		txn.CleanupOnError(ctx, err)
-	}
-	return err
-}
-
 // UpdateDeadline sets the transactions deadline to the passed deadline.
 // It may move the deadline to any timestamp above the current read timestamp.
 // If the deadline is below the current provisional commit timestamp (write timestamp),
diff --git a/pkg/kv/txn_test.go b/pkg/kv/txn_test.go
index ffcb560855cf..07a5146025f0 100644
--- a/pkg/kv/txn_test.go
+++ b/pkg/kv/txn_test.go
@@ -364,9 +364,7 @@ func TestTransactionStatus(t *testing.T) {
 				}
 			}
 			if commit {
-				if pErr := txn.CommitOrCleanup(ctx); pErr != nil {
-					t.Fatal(pErr)
-				}
+				require.NoError(t, txn.Commit(ctx))
 				if a, e := txn.TestingCloneTxn().Status, roachpb.COMMITTED; a != e {
 					t.Errorf("write: %t, commit: %t transaction expected to have status %q but had %q", write, commit, e, a)
 				}
diff --git a/pkg/sql/conn_fsm.go b/pkg/sql/conn_fsm.go
index b26bc3ad6c56..077dede964d8 100644
--- a/pkg/sql/conn_fsm.go
+++ b/pkg/sql/conn_fsm.go
@@ -534,7 +534,7 @@ func cleanupAndFinishOnError(args fsm.Args) error {
 	func() {
 		ts.mu.Lock()
 		defer ts.mu.Unlock()
-		ts.mu.txn.CleanupOnError(ts.Ctx, args.Payload.(payloadWithError).errorCause())
+		_ = ts.mu.txn.Rollback(ts.Ctx)
 	}()
 	finishedTxnID := ts.finishSQLTxn()
 	ts.setAdvanceInfo(
diff --git a/pkg/sql/copy.go b/pkg/sql/copy.go
index 3482c32e34f0..ab8fca256b4c 100644
--- a/pkg/sql/copy.go
+++ b/pkg/sql/copy.go
@@ -801,11 +801,19 @@ func (p *planner) preparePlannerForCopy(
 			// committing its transactions and the execution didn't already commit it
 			// (through the planner.autoCommit optimization).
 			if autoCommit && !txn.IsCommitted() {
-				return txn.CommitOrCleanup(ctx)
+				err = txn.Commit(ctx)
+				if err != nil {
+					if rollbackErr := txn.Rollback(ctx); rollbackErr != nil {
+						log.Eventf(ctx, "rollback failed: %s", rollbackErr)
+					}
+				}
+				return err
 			}
 			return nil
 		}
-		txn.CleanupOnError(ctx, prevErr)
+		if rollbackErr := txn.Rollback(ctx); rollbackErr != nil {
+			log.Eventf(ctx, "rollback failed: %s", rollbackErr)
+		}
 		return prevErr
 	}
 }
diff --git a/pkg/sql/distsql_running_test.go b/pkg/sql/distsql_running_test.go
index db3515687a47..73b772afee73 100644
--- a/pkg/sql/distsql_running_test.go
+++ b/pkg/sql/distsql_running_test.go
@@ -101,7 +101,10 @@ func TestDistSQLRunningInAbortedTxn(t *testing.T) {
 		if err := conflictTxn.Put(ctx, key, "pusher was here"); err != nil {
 			return err
 		}
-		return conflictTxn.CommitOrCleanup(ctx)
+		err = conflictTxn.Commit(ctx)
+		require.NoError(t, err)
+		t.Log(conflictTxn.Rollback(ctx))
+		return err
 	}
 
 	// Make a db with a short heartbeat interval, so that the aborted txn finds