diff --git a/packages/block-editor/README.md b/packages/block-editor/README.md
index 40d41b71ad6168..d6c047e4cb8801 100644
--- a/packages/block-editor/README.md
+++ b/packages/block-editor/README.md
@@ -415,7 +415,6 @@ _Properties_
 -   _bodyPlaceholder_ `string`: Empty post placeholder
 -   _titlePlaceholder_ `string`: Empty title placeholder
 -   _codeEditingEnabled_ `boolean`: Whether or not the user can switch to the code editor
--   _showInserterHelpPanel_ `boolean`: Whether or not the inserter help panel is shown
 -   _\_\_experimentalCanUserUseUnfilteredHTML_ `boolean`: Whether the user should be able to use unfiltered HTML or the HTML should be filtered e.g., to remove elements considered insecure like iframes.
 -   _\_\_experimentalEnableLegacyWidgetBlock_ `boolean`: Whether the user has enabled the Legacy Widget Block
 -   _\_\_experimentalBlockDirectory_ `boolean`: Whether the user has enabled the Block Directory
diff --git a/packages/block-editor/src/components/inserter/menu.js b/packages/block-editor/src/components/inserter/menu.js
index 72f071bf29b4cf..c81e2956203b36 100644
--- a/packages/block-editor/src/components/inserter/menu.js
+++ b/packages/block-editor/src/components/inserter/menu.js
@@ -13,7 +13,6 @@ import {
 	includes,
 } from 'lodash';
 import scrollIntoView from 'dom-scroll-into-view';
-import classnames from 'classnames';
 
 /**
  * WordPress dependencies
@@ -312,9 +311,7 @@ export class InserterMenu extends Component {
 		/* eslint-disable jsx-a11y/no-autofocus, jsx-a11y/no-static-element-interactions */
 		return (
 			<div
-				className={ classnames( 'block-editor-inserter__menu', {
-					'has-help-panel': hasHelpPanel,
-				} ) }
+				className="block-editor-inserter__menu"
 				onKeyPress={ stopKeyPropagation }
 				onKeyDown={ this.onKeyDown }
 			>
@@ -465,79 +462,54 @@ export class InserterMenu extends Component {
 							} }
 						</__experimentalInserterMenuExtension.Slot>
 					</div>
+					{ showInserterHelpPanel && (
+						<div className="block-editor-inserter__tips">
+							<Tips />
+						</div>
+					) }
 				</div>
-
-				{ hasHelpPanel && (
+				{ hasHelpPanel && hoveredItem && (
 					<div className="block-editor-inserter__menu-help-panel">
-						{ hoveredItem && (
-							<>
-								{ ! isReusableBlock( hoveredItem ) && (
-									<BlockCard blockType={ hoveredItem } />
-								) }
-								<div className="block-editor-inserter__preview">
-									{ isReusableBlock( hoveredItem ) ||
-									hoveredItemBlockType.example ? (
-										<div className="block-editor-inserter__preview-content">
-											<BlockPreview
-												padding={ 10 }
-												viewportWidth={ 500 }
-												blocks={
-													hoveredItemBlockType.example
-														? getBlockFromExample(
-																hoveredItem.name,
-																{
-																	attributes: {
-																		...hoveredItemBlockType
-																			.example
-																			.attributes,
-																		...hoveredItem.initialAttributes,
-																	},
-																	innerBlocks:
-																		hoveredItemBlockType
-																			.example
-																			.innerBlocks,
-																}
-														  )
-														: createBlock(
-																hoveredItem.name,
-																hoveredItem.initialAttributes
-														  )
-												}
-											/>
-										</div>
-									) : (
-										<div className="block-editor-inserter__preview-content-missing">
-											{ __( 'No Preview Available.' ) }
-										</div>
-									) }
-								</div>
-							</>
+						{ ! isReusableBlock( hoveredItem ) && (
+							<BlockCard blockType={ hoveredItem } />
 						) }
-						{ ! hoveredItem && (
-							<div className="block-editor-inserter__menu-help-panel-no-block">
-								<div className="block-editor-inserter__menu-help-panel-no-block-text">
-									<div className="block-editor-inserter__menu-help-panel-title">
-										{ __( 'Content blocks' ) }
-									</div>
-									<p>
-										{ __(
-											'Welcome to the wonderful world of blocks! Blocks are the basis of all content within the editor.'
-										) }
-									</p>
-									<p>
-										{ __(
-											'There are blocks available for all kinds of content: insert text, headings, images, lists, videos, tables, and lots more.'
-										) }
-									</p>
-									<p>
-										{ __(
-											'Browse through the library to learn more about what each block does.'
-										) }
-									</p>
+						<div className="block-editor-inserter__preview">
+							{ isReusableBlock( hoveredItem ) ||
+							hoveredItemBlockType.example ? (
+								<div className="block-editor-inserter__preview-content">
+									<BlockPreview
+										padding={ 10 }
+										viewportWidth={ 500 }
+										blocks={
+											hoveredItemBlockType.example
+												? getBlockFromExample(
+														hoveredItem.name,
+														{
+															attributes: {
+																...hoveredItemBlockType
+																	.example
+																	.attributes,
+																...hoveredItem.initialAttributes,
+															},
+															innerBlocks:
+																hoveredItemBlockType
+																	.example
+																	.innerBlocks,
+														}
+												  )
+												: createBlock(
+														hoveredItem.name,
+														hoveredItem.initialAttributes
+												  )
+										}
+									/>
 								</div>
-								<Tips />
-							</div>
-						) }
+							) : (
+								<div className="block-editor-inserter__preview-content-missing">
+									{ __( 'No Preview Available.' ) }
+								</div>
+							) }
+						</div>
 					</div>
 				) }
 			</div>
@@ -547,53 +519,43 @@ export class InserterMenu extends Component {
 }
 
 export default compose(
-	withSelect(
-		(
-			select,
-			{ clientId, isAppender, rootClientId, showInserterHelpPanel }
-		) => {
-			const {
-				getInserterItems,
-				getBlockName,
-				getBlockRootClientId,
-				getBlockSelectionEnd,
-				getSettings,
-			} = select( 'core/block-editor' );
-			const {
-				getCategories,
-				getCollections,
-				getChildBlockNames,
-			} = select( 'core/blocks' );
-
-			let destinationRootClientId = rootClientId;
-			if ( ! destinationRootClientId && ! clientId && ! isAppender ) {
-				const end = getBlockSelectionEnd();
-				if ( end ) {
-					destinationRootClientId =
-						getBlockRootClientId( end ) || undefined;
-				}
-			}
-			const destinationRootBlockName = getBlockName(
-				destinationRootClientId
-			);
+	withSelect( ( select, { clientId, isAppender, rootClientId } ) => {
+		const {
+			getInserterItems,
+			getBlockName,
+			getBlockRootClientId,
+			getBlockSelectionEnd,
+			getSettings,
+		} = select( 'core/block-editor' );
+		const { getCategories, getCollections, getChildBlockNames } = select(
+			'core/blocks'
+		);
 
-			const {
-				showInserterHelpPanel: showInserterHelpPanelSetting,
-				__experimentalFetchReusableBlocks: fetchReusableBlocks,
-			} = getSettings();
-
-			return {
-				categories: getCategories(),
-				collections: getCollections(),
-				rootChildBlocks: getChildBlockNames( destinationRootBlockName ),
-				items: getInserterItems( destinationRootClientId ),
-				showInserterHelpPanel:
-					showInserterHelpPanel && showInserterHelpPanelSetting,
-				destinationRootClientId,
-				fetchReusableBlocks,
-			};
+		let destinationRootClientId = rootClientId;
+		if ( ! destinationRootClientId && ! clientId && ! isAppender ) {
+			const end = getBlockSelectionEnd();
+			if ( end ) {
+				destinationRootClientId =
+					getBlockRootClientId( end ) || undefined;
+			}
 		}
-	),
+		const destinationRootBlockName = getBlockName(
+			destinationRootClientId
+		);
+
+		const {
+			__experimentalFetchReusableBlocks: fetchReusableBlocks,
+		} = getSettings();
+
+		return {
+			categories: getCategories(),
+			collections: getCollections(),
+			rootChildBlocks: getChildBlockNames( destinationRootBlockName ),
+			items: getInserterItems( destinationRootClientId ),
+			destinationRootClientId,
+			fetchReusableBlocks,
+		};
+	} ),
 	withDispatch( ( dispatch, ownProps, { select } ) => {
 		const { showInsertionPoint, hideInsertionPoint } = dispatch(
 			'core/block-editor'
diff --git a/packages/block-editor/src/components/inserter/style.scss b/packages/block-editor/src/components/inserter/style.scss
index 9800b85f81fe0c..6545773ce3c089 100644
--- a/packages/block-editor/src/components/inserter/style.scss
+++ b/packages/block-editor/src/components/inserter/style.scss
@@ -1,4 +1,4 @@
-$block-inserter-content-height: 350px;
+$block-inserter-preview-height: 350px;
 $block-inserter-tabs-height: 44px;
 $block-inserter-search-height: 38px;
 
@@ -17,11 +17,10 @@ $block-inserter-search-height: 38px;
 }
 
 .block-editor-inserter__popover > .components-popover__content {
-	padding: 0 0 $border-width 0;
-
 	@include break-medium {
 		overflow-y: visible;
-		height: $block-inserter-content-height + $block-inserter-tabs-height + $block-inserter-search-height;
+		height: 100vh;
+		padding: 0;
 	}
 }
 
@@ -38,17 +37,6 @@ $block-inserter-search-height: 38px;
 
 .block-editor-inserter__menu {
 	height: 100%;
-	display: flex;
-	width: auto;
-	position: relative;
-
-	@include break-medium {
-		width: 400px;
-
-		&.has-help-panel {
-			width: 700px;
-		}
-	}
 }
 
 .block-editor-inserter__main-area {
@@ -81,6 +69,7 @@ $block-inserter-search-height: 38px;
 	position: relative;
 	z-index: 1;
 	border-radius: $radius-round-rectangle;
+	flex-shrink: 0;
 
 	/* Fonts smaller than 16px causes mobile safari to zoom. */
 	font-size: $mobile-text-min-font-size;
@@ -104,10 +93,6 @@ $block-inserter-search-height: 38px;
 		outline: $border-width dotted $dark-gray-500;
 	}
 
-	@include break-medium {
-		height: $block-inserter-content-height + $block-inserter-tabs-height;
-	}
-
 	// Don't show the top border on the first panel, let the Search border be the border.
 	[role="presentation"] + .components-panel__body {
 		border-top: none;
@@ -152,13 +137,17 @@ $block-inserter-search-height: 38px;
 
 .block-editor-inserter__menu-help-panel {
 	display: none;
-	border-left: $border-width solid $light-gray-500;
+	border: $border-width solid $light-gray-secondary;
 	width: 300px;
-	height: 100%;
+	min-height: $block-inserter-preview-height;
+	margin-right: 20px;
 	padding: 20px;
-	overflow-y: auto;
+	background: $white;
 
 	@include break-medium {
+		position: absolute;
+		top: 0;
+		left: calc(100% + 20px);
 		display: flex;
 		flex-direction: column;
 	}
@@ -172,7 +161,8 @@ $block-inserter-search-height: 38px;
 
 	.block-editor-inserter__preview {
 		display: flex;
-		flex-grow: 2;
+		flex-grow: 1;
+		overflow-y: auto;
 	}
 }
 
@@ -220,7 +210,7 @@ $block-inserter-search-height: 38px;
 	border-radius: $radius-round-rectangle;
 	min-height: 150px;
 	display: grid;
-	flex-grow: 2;
+	flex-grow: 1;
 
 	.block-editor-block-preview__container {
 		margin-right: 0;
@@ -238,3 +228,8 @@ $block-inserter-search-height: 38px;
 	border-radius: $radius-round-rectangle;
 	align-items: center;
 }
+
+.block-editor-inserter__tips {
+	padding: $grid-unit-20;
+	flex-shrink: 0;
+}
diff --git a/packages/block-editor/src/store/defaults.js b/packages/block-editor/src/store/defaults.js
index 11770f2a5ec903..3fbcd61f2e7bdf 100644
--- a/packages/block-editor/src/store/defaults.js
+++ b/packages/block-editor/src/store/defaults.js
@@ -28,7 +28,6 @@ export const PREFERENCES_DEFAULTS = {
  * @property {string} bodyPlaceholder Empty post placeholder
  * @property {string} titlePlaceholder Empty title placeholder
  * @property {boolean} codeEditingEnabled Whether or not the user can switch to the code editor
- * @property {boolean} showInserterHelpPanel Whether or not the inserter help panel is shown
  * @property {boolean} __experimentalCanUserUseUnfilteredHTML Whether the user should be able to use unfiltered HTML or the HTML should be filtered e.g., to remove elements considered insecure like iframes.
  * @property {boolean} __experimentalEnableLegacyWidgetBlock Whether the user has enabled the Legacy Widget Block
  * @property {boolean} __experimentalBlockDirectory Whether the user has enabled the Block Directory
@@ -147,7 +146,6 @@ export const SETTINGS_DEFAULTS = {
 
 	availableLegacyWidgets: {},
 	hasPermissionsToManageWidgets: false,
-	showInserterHelpPanel: true,
 	__experimentalCanUserUseUnfilteredHTML: false,
 	__experimentalEnableLegacyWidgetBlock: false,
 	__experimentalBlockDirectory: false,
diff --git a/packages/edit-post/src/components/options-modal/index.js b/packages/edit-post/src/components/options-modal/index.js
index c03648bf2c0bfa..a4fa06cc512fca 100644
--- a/packages/edit-post/src/components/options-modal/index.js
+++ b/packages/edit-post/src/components/options-modal/index.js
@@ -26,7 +26,6 @@ import {
 	EnablePluginDocumentSettingPanelOption,
 	EnablePublishSidebarOption,
 	EnablePanelOption,
-	EnableFeature,
 } from './options';
 import MetaBoxesSection from './meta-boxes-section';
 
@@ -48,10 +47,6 @@ export function OptionsModal( { isModalActive, isViewable, closeModal } ) {
 				<EnablePublishSidebarOption
 					label={ __( 'Pre-publish checks' ) }
 				/>
-				<EnableFeature
-					feature="showInserterHelpPanel"
-					label={ __( 'Inserter help panel' ) }
-				/>
 			</Section>
 			<Section title={ __( 'Document panels' ) }>
 				<EnablePluginDocumentSettingPanelOption.Slot />
diff --git a/packages/edit-post/src/components/options-modal/options/enable-feature.js b/packages/edit-post/src/components/options-modal/options/enable-feature.js
deleted file mode 100644
index a0b79eddef3a55..00000000000000
--- a/packages/edit-post/src/components/options-modal/options/enable-feature.js
+++ /dev/null
@@ -1,24 +0,0 @@
-/**
- * WordPress dependencies
- */
-import { compose } from '@wordpress/compose';
-import { withSelect, withDispatch } from '@wordpress/data';
-
-/**
- * Internal dependencies
- */
-import BaseOption from './base';
-
-export default compose(
-	withSelect( ( select, { feature } ) => ( {
-		isChecked: select( 'core/edit-post' ).isFeatureActive( feature ),
-	} ) ),
-	withDispatch( ( dispatch, { feature } ) => {
-		const { toggleFeature } = dispatch( 'core/edit-post' );
-		return {
-			onChange() {
-				toggleFeature( feature );
-			},
-		};
-	} )
-)( BaseOption );
diff --git a/packages/edit-post/src/components/options-modal/options/index.js b/packages/edit-post/src/components/options-modal/options/index.js
index b5cb1c6c4fe1b7..6ba7b4c54c7da9 100644
--- a/packages/edit-post/src/components/options-modal/options/index.js
+++ b/packages/edit-post/src/components/options-modal/options/index.js
@@ -2,4 +2,3 @@ export { default as EnableCustomFieldsOption } from './enable-custom-fields';
 export { default as EnablePanelOption } from './enable-panel';
 export { default as EnablePluginDocumentSettingPanelOption } from './enable-plugin-document-setting-panel';
 export { default as EnablePublishSidebarOption } from './enable-publish-sidebar';
-export { default as EnableFeature } from './enable-feature';
diff --git a/packages/edit-post/src/components/options-modal/test/__snapshots__/index.js.snap b/packages/edit-post/src/components/options-modal/test/__snapshots__/index.js.snap
index be37c39470686f..438c185faca3ef 100644
--- a/packages/edit-post/src/components/options-modal/test/__snapshots__/index.js.snap
+++ b/packages/edit-post/src/components/options-modal/test/__snapshots__/index.js.snap
@@ -12,10 +12,6 @@ exports[`OptionsModal should match snapshot when the modal is active 1`] = `
     <WithSelect(WithDispatch(IfViewportMatches(BaseOption)))
       label="Pre-publish checks"
     />
-    <WithSelect(WithDispatch(BaseOption))
-      feature="showInserterHelpPanel"
-      label="Inserter help panel"
-    />
   </Section>
   <Section
     title="Document panels"
diff --git a/packages/edit-post/src/editor.js b/packages/edit-post/src/editor.js
index 0da931530f2ef6..ba930a0e4b2f63 100644
--- a/packages/edit-post/src/editor.js
+++ b/packages/edit-post/src/editor.js
@@ -41,7 +41,6 @@ class Editor extends Component {
 	getEditorSettings(
 		settings,
 		hasFixedToolbar,
-		showInserterHelpPanel,
 		focusMode,
 		hiddenBlockTypes,
 		blockTypes,
@@ -57,7 +56,6 @@ class Editor extends Component {
 			},
 			hasFixedToolbar,
 			focusMode,
-			showInserterHelpPanel,
 			__experimentalLocalAutosaveInterval,
 		};
 
@@ -93,7 +91,6 @@ class Editor extends Component {
 			blockTypes,
 			preferredStyleVariations,
 			__experimentalLocalAutosaveInterval,
-			showInserterHelpPanel,
 			updatePreferredStyleVariations,
 			...props
 		} = this.props;
@@ -105,7 +102,6 @@ class Editor extends Component {
 		const editorSettings = this.getEditorSettings(
 			settings,
 			hasFixedToolbar,
-			showInserterHelpPanel,
 			focusMode,
 			hiddenBlockTypes,
 			blockTypes,
@@ -154,7 +150,6 @@ export default compose( [
 		const { getBlockTypes } = select( 'core/blocks' );
 
 		return {
-			showInserterHelpPanel: isFeatureActive( 'showInserterHelpPanel' ),
 			hasFixedToolbar:
 				isFeatureActive( 'fixedToolbar' ) ||
 				__experimentalGetPreviewDeviceType() !== 'Desktop',
diff --git a/packages/edit-post/src/store/defaults.js b/packages/edit-post/src/store/defaults.js
index cbd1c8c3eb7295..1b90986e222a9a 100644
--- a/packages/edit-post/src/store/defaults.js
+++ b/packages/edit-post/src/store/defaults.js
@@ -8,7 +8,6 @@ export const PREFERENCES_DEFAULTS = {
 	},
 	features: {
 		fixedToolbar: false,
-		showInserterHelpPanel: true,
 		welcomeGuide: true,
 		fullscreenMode: true,
 	},
diff --git a/packages/editor/src/components/provider/index.js b/packages/editor/src/components/provider/index.js
index 97065c54844ab3..6a9cb86c20981a 100644
--- a/packages/editor/src/components/provider/index.js
+++ b/packages/editor/src/components/provider/index.js
@@ -121,7 +121,6 @@ class EditorProvider extends Component {
 				'__mobileEnablePageTemplates',
 				'__experimentalGlobalStylesUserEntityId',
 				'__experimentalGlobalStylesBase',
-				'showInserterHelpPanel',
 				'gradients',
 			] ),
 			mediaUpload: hasUploadPermissions ? mediaUpload : undefined,