diff --git a/context.go b/context.go
index f07f537..42bb76b 100644
--- a/context.go
+++ b/context.go
@@ -683,14 +683,8 @@ func (c *Context) Run(binds ...interface{}) (err error) {
 	defer catch(&err)
 	node := c.Selected()
 	if node == nil {
-		if c.Kong.usageOnMissing {
-			return c.PrintUsage(false)
-		}
 		return fmt.Errorf("no command selected")
 	}
-	if c.Kong.usageOnMissing && isMissingChildError(c.Error) {
-		return c.PrintUsage(false)
-	}
 	return c.RunNode(node, binds...)
 }
 
@@ -759,7 +753,13 @@ func checkMissingChildren(node *Node) error {
 		return nil
 	}
 
-	return newMissingChildError(missing)
+	if len(missing) > 5 {
+		missing = append(missing[:5], "...")
+	}
+	if len(missing) == 1 {
+		return fmt.Errorf("expected %s", missing[0])
+	}
+	return fmt.Errorf("expected one of %s", strings.Join(missing, ",  "))
 }
 
 // If we're missing any positionals and they're required, return an error.
diff --git a/error.go b/error.go
index 36f512b..30b8858 100644
--- a/error.go
+++ b/error.go
@@ -1,10 +1,5 @@
 package kong
 
-import (
-	"fmt"
-	"strings"
-)
-
 // ParseError is the error type returned by Kong.Parse().
 //
 // It contains the parse Context that triggered the error.
@@ -15,29 +10,3 @@ type ParseError struct {
 
 // Cause returns the original cause of the error.
 func (p *ParseError) Cause() error { return p.error }
-
-type missingChildError struct {
-	missing []string
-}
-
-func (m *missingChildError) Error() string {
-	if len(m.missing) > 5 {
-		m.missing = append(m.missing[:5], "...")
-	}
-	if len(m.missing) == 1 {
-		return fmt.Sprintf("expected %s", m.missing[0])
-	}
-	return fmt.Sprintf("expected one of %s", strings.Join(m.missing, ",  "))
-}
-
-func newMissingChildError(missing []string) *missingChildError {
-	return &missingChildError{missing}
-}
-
-func isMissingChildError(err error) bool {
-	if err == nil {
-		return false
-	}
-	_, ok := err.(*missingChildError)
-	return ok
-}
diff --git a/kong.go b/kong.go
index d46915e..b94620a 100644
--- a/kong.go
+++ b/kong.go
@@ -47,14 +47,13 @@ type Kong struct {
 	resolvers []Resolver
 	registry  *Registry
 
-	noDefaultHelp  bool
-	usageOnError   bool
-	usageOnMissing bool
-	help           HelpPrinter
-	helpFormatter  HelpValueFormatter
-	helpOptions    HelpOptions
-	helpFlag       *Flag
-	vars           Vars
+	noDefaultHelp bool
+	usageOnError  bool
+	help          HelpPrinter
+	helpFormatter HelpValueFormatter
+	helpOptions   HelpOptions
+	helpFlag      *Flag
+	vars          Vars
 
 	// Set temporarily by Options. These are applied after build().
 	postBuildOptions []Option
@@ -219,10 +218,7 @@ func (k *Kong) Parse(args []string) (ctx *Context, err error) {
 		return nil, &ParseError{error: err, Context: ctx}
 	}
 	if err = ctx.Validate(); err != nil {
-		if !k.usageOnError || !isMissingChildError(err) {
-			return nil, &ParseError{error: err, Context: ctx}
-		}
-		ctx.Error = err
+		return nil, &ParseError{error: err, Context: ctx}
 	}
 	if err = k.applyHook(ctx, "AfterApply"); err != nil {
 		return nil, &ParseError{error: err, Context: ctx}
diff --git a/options.go b/options.go
index 1369b6b..5bd36c3 100644
--- a/options.go
+++ b/options.go
@@ -216,14 +216,6 @@ func UsageOnError() Option {
 	})
 }
 
-// UsageOnMissing configures Kong to display usage and exit successfully if command is missing a child argument.
-func UsageOnMissing() Option {
-	return OptionFunc(func(k *Kong) error {
-		k.usageOnMissing = true
-		return nil
-	})
-}
-
 // ClearResolvers clears all existing resolvers.
 func ClearResolvers() Option {
 	return OptionFunc(func(k *Kong) error {