diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 246f18009..da15d1c00 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -36,6 +36,14 @@ jobs:
       default_python: '3.10'
       envs: |
         - linux: coverage
+          name: Python 3.10 coverage
+          python-version: 3.10
+        - linux: coverage
+          name: Python 3.9 coverage
+          python-version: 3.9
+        - linux: coverage
+          name: Python 3.8 coverage
+          python-version: 3.8
       coverage: codecov
 
   test:
@@ -49,8 +57,6 @@ jobs:
       # Any env name which does not start with `pyXY` will use this Python version.
       default_python: '3.9'
       envs: |
-        - linux: py38
-        - linux: py39
         - macos: py39
         - windows: py39
 
diff --git a/CHANGES.rst b/CHANGES.rst
index 9f28bbd3f..655dbce2a 100644
--- a/CHANGES.rst
+++ b/CHANGES.rst
@@ -7,6 +7,7 @@
   `~asdf.search.AsdfSearchResult.schema_info` method. [#1197]
 - Use forc ndarray flag to correctly test for fortran array contiguity [#1206]
 - Unpin ``jsonschema`` version and fix ``jsonschema`` deprecation warnings. [#1185]
+- Replace ``pkg_resources`` with ``importlib.metadata``. [#1199]
 
 2.13.0 (2022-08-19)
 -------------------
diff --git a/asdf/asdf.py b/asdf/asdf.py
index 105fb7ca2..d5a132e44 100644
--- a/asdf/asdf.py
+++ b/asdf/asdf.py
@@ -7,7 +7,7 @@
 
 import numpy as np
 from jsonschema import ValidationError
-from pkg_resources import parse_version
+from packaging.version import Version
 
 from . import _display as display
 from . import _node_info as node_info
@@ -336,7 +336,7 @@ def _check_extensions(self, tree, strict=False):
                 if installed.package_version is None or installed.package_name != extension.software["name"]:
                     continue
                 # Compare version in file metadata with installed version
-                if parse_version(installed.package_version) < parse_version(extension.software["version"]):
+                if Version(installed.package_version) < Version(extension.software["version"]):
                     msg = ("File {}was created with extension {}, but older package ({}=={}) " "is installed.").format(
                         filename,
                         extension_description,
diff --git a/asdf/entry_points.py b/asdf/entry_points.py
index 0747710ce..5f18fc733 100644
--- a/asdf/entry_points.py
+++ b/asdf/entry_points.py
@@ -1,6 +1,10 @@
+import sys
 import warnings
 
-from pkg_resources import iter_entry_points
+if sys.version_info < (3, 10):
+    from importlib_metadata import entry_points
+else:
+    from importlib.metadata import entry_points
 
 from .exceptions import AsdfWarning
 from .extension import ExtensionProxy
@@ -25,7 +29,7 @@ def get_extensions():
 def _list_entry_points(group, proxy_class):
     results = []
 
-    entry_points = list(iter_entry_points(group=group))
+    points = entry_points(group=group)
 
     # The order of plugins may be significant, since in the case of
     # duplicate functionality the first plugin in the list takes
@@ -33,13 +37,11 @@ def _list_entry_points(group, proxy_class):
     # in a consistent way across systems so we explicitly sort
     # by package name.  Plugins from this package are placed
     # at the end so that other packages can override them.
-    asdf_entry_points = [e for e in entry_points if e.dist.project_name == "asdf"]
-    other_entry_points = sorted(
-        (e for e in entry_points if e.dist.project_name != "asdf"), key=lambda e: e.dist.project_name
-    )
+    asdf_entry_points = [e for e in points if e.dist.name == "asdf"]
+    other_entry_points = sorted((e for e in points if e.dist.name != "asdf"), key=lambda e: e.dist.name)
 
     for entry_point in other_entry_points + asdf_entry_points:
-        package_name = entry_point.dist.project_name
+        package_name = entry_point.dist.name
         package_version = entry_point.dist.version
 
         def _handle_error(e):
diff --git a/asdf/fits_embed.py b/asdf/fits_embed.py
index b61fdcf7d..8b223945c 100644
--- a/asdf/fits_embed.py
+++ b/asdf/fits_embed.py
@@ -351,10 +351,3 @@ def write_to(
 
     def update(self, all_array_storage=None, all_array_compression=None, pad_blocks=False, **kwargs):
         raise NotImplementedError("In-place update is not currently implemented for ASDF-in-FITS")
-
-        self._update_asdf_extension(
-            all_array_storage=all_array_storage,
-            all_array_compression=all_array_compression,
-            pad_blocks=pad_blocks,
-            **kwargs,
-        )
diff --git a/asdf/tests/test_asdf.py b/asdf/tests/test_asdf.py
index fc03a4227..98cb4d4c4 100644
--- a/asdf/tests/test_asdf.py
+++ b/asdf/tests/test_asdf.py
@@ -1,13 +1,27 @@
+import warnings
+
 import pytest
 
 from asdf import config_context, get_config
 from asdf.asdf import AsdfFile, SerializationContext, open_asdf
+from asdf.entry_points import get_extensions
 from asdf.exceptions import AsdfWarning
 from asdf.extension import AsdfExtensionList, ExtensionManager, ExtensionProxy
 from asdf.tests.helpers import assert_no_warnings, yaml_to_asdf
 from asdf.versioning import AsdfVersion
 
 
+def test_no_warnings_get_extensions():
+    """
+    Smoke test for changes to the `importlib.metadata` entry points API.
+    """
+
+    with warnings.catch_warnings():
+        warnings.simplefilter("error")
+
+        get_extensions()
+
+
 class TestExtension:
     __test__ = False
 
diff --git a/asdf/tests/test_entry_points.py b/asdf/tests/test_entry_points.py
index f4d4e5948..6827be6e6 100644
--- a/asdf/tests/test_entry_points.py
+++ b/asdf/tests/test_entry_points.py
@@ -1,6 +1,11 @@
-import pkg_resources
+import sys
+
 import pytest
-from pkg_resources import EntryPoint
+
+if sys.version_info < (3, 10):
+    import importlib_metadata as metadata
+else:
+    import importlib.metadata as metadata
 
 from asdf import entry_points
 from asdf._version import version as asdf_package_version
@@ -16,17 +21,15 @@ def mock_entry_points():
 
 @pytest.fixture(autouse=True)
 def monkeypatch_entry_points(monkeypatch, mock_entry_points):
-    def _iter_entry_points(*, group):
+    def _entry_points(*, group):
         for candidate_group, name, func_name in mock_entry_points:
             if candidate_group == group:
-                yield EntryPoint(
-                    name,
-                    "asdf.tests.test_entry_points",
-                    attrs=(func_name,),
-                    dist=pkg_resources.get_distribution("asdf"),
-                )
+                point = metadata.EntryPoint(name=name, group="asdf.tests.test_entry_points", value=func_name)
+                vars(point).update(dist=metadata.distribution("asdf"))
+
+                yield point
 
-    monkeypatch.setattr(entry_points, "iter_entry_points", _iter_entry_points)
+    monkeypatch.setattr(entry_points, "entry_points", _entry_points)
 
 
 def resource_mappings_entry_point_successful():
@@ -49,7 +52,13 @@ def resource_mappings_entry_point_bad_element():
 
 
 def test_get_resource_mappings(mock_entry_points):
-    mock_entry_points.append(("asdf.resource_mappings", "successful", "resource_mappings_entry_point_successful"))
+    mock_entry_points.append(
+        (
+            "asdf.resource_mappings",
+            "successful",
+            "asdf.tests.test_entry_points:resource_mappings_entry_point_successful",
+        )
+    )
     mappings = entry_points.get_resource_mappings()
     assert len(mappings) == 2
     for m in mappings:
@@ -58,13 +67,21 @@ def test_get_resource_mappings(mock_entry_points):
         assert m.package_version == asdf_package_version
 
     mock_entry_points.clear()
-    mock_entry_points.append(("asdf.resource_mappings", "failing", "resource_mappings_entry_point_failing"))
+    mock_entry_points.append(
+        ("asdf.resource_mappings", "failing", "asdf.tests.test_entry_points:resource_mappings_entry_point_failing")
+    )
     with pytest.warns(AsdfWarning, match="Exception: NOPE"):
         mappings = entry_points.get_resource_mappings()
     assert len(mappings) == 0
 
     mock_entry_points.clear()
-    mock_entry_points.append(("asdf.resource_mappings", "bad_element", "resource_mappings_entry_point_bad_element"))
+    mock_entry_points.append(
+        (
+            "asdf.resource_mappings",
+            "bad_element",
+            "asdf.tests.test_entry_points:resource_mappings_entry_point_bad_element",
+        )
+    )
     with pytest.warns(AsdfWarning, match="TypeError: Resource mapping must implement the Mapping interface"):
         mappings = entry_points.get_resource_mappings()
     assert len(mappings) == 2
@@ -109,7 +126,9 @@ class FauxLegacyExtension:
 
 
 def test_get_extensions(mock_entry_points):
-    mock_entry_points.append(("asdf.extensions", "successful", "extensions_entry_point_successful"))
+    mock_entry_points.append(
+        ("asdf.extensions", "successful", "asdf.tests.test_entry_points:extensions_entry_point_successful")
+    )
     extensions = entry_points.get_extensions()
     assert len(extensions) == 2
     for e in extensions:
@@ -118,13 +137,17 @@ def test_get_extensions(mock_entry_points):
         assert e.package_version == asdf_package_version
 
     mock_entry_points.clear()
-    mock_entry_points.append(("asdf.extensions", "failing", "extensions_entry_point_failing"))
+    mock_entry_points.append(
+        ("asdf.extensions", "failing", "asdf.tests.test_entry_points:extensions_entry_point_failing")
+    )
     with pytest.warns(AsdfWarning, match="Exception: NOPE"):
         extensions = entry_points.get_extensions()
     assert len(extensions) == 0
 
     mock_entry_points.clear()
-    mock_entry_points.append(("asdf.extensions", "bad_element", "extensions_entry_point_bad_element"))
+    mock_entry_points.append(
+        ("asdf.extensions", "bad_element", "asdf.tests.test_entry_points:extensions_entry_point_bad_element")
+    )
     with pytest.warns(
         AsdfWarning, match="TypeError: Extension must implement the Extension or AsdfExtension interface"
     ):
@@ -132,7 +155,7 @@ def test_get_extensions(mock_entry_points):
     assert len(extensions) == 2
 
     mock_entry_points.clear()
-    mock_entry_points.append(("asdf_extensions", "legacy", "LegacyExtension"))
+    mock_entry_points.append(("asdf_extensions", "legacy", "asdf.tests.test_entry_points:LegacyExtension"))
     extensions = entry_points.get_extensions()
     assert len(extensions) == 1
     for e in extensions:
@@ -142,7 +165,7 @@ def test_get_extensions(mock_entry_points):
         assert e.legacy is True
 
     mock_entry_points.clear()
-    mock_entry_points.append(("asdf_extensions", "failing", "FauxLegacyExtension"))
+    mock_entry_points.append(("asdf_extensions", "failing", "asdf.tests.test_entry_points:FauxLegacyExtension"))
     with pytest.warns(AsdfWarning, match="TypeError"):
         extensions = entry_points.get_extensions()
     assert len(extensions) == 0
diff --git a/asdf/tests/test_util.py b/asdf/tests/test_util.py
index 062cc16fe..20d698bcc 100644
--- a/asdf/tests/test_util.py
+++ b/asdf/tests/test_util.py
@@ -99,3 +99,20 @@ def read(self, size=-1):
     fd = generic_io.get_file(OnlyHasAReadMethod(content))
     assert util.get_file_type(fd) == expected_type
     assert fd.read() == content
+
+
+def test_minversion():
+    import numpy
+    import yaml
+
+    good_versions = ["1.16", "1.16.1", "1.16.0.dev", "1.16dev"]
+    bad_versions = ["100000", "100000.2rc1"]
+    for version in good_versions:
+        assert util.minversion(numpy, version)
+        assert util.minversion("numpy", version)
+    for version in bad_versions:
+        assert not util.minversion(numpy, version)
+        assert not util.minversion("numpy", version)
+
+    assert util.minversion(yaml, "3.1")
+    assert util.minversion("yaml", "3.1")
diff --git a/asdf/util.py b/asdf/util.py
index 964812c52..a45c86357 100644
--- a/asdf/util.py
+++ b/asdf/util.py
@@ -4,14 +4,23 @@
 import math
 import re
 import struct
+import sys
 import types
 from functools import lru_cache
+from importlib import metadata
 from urllib.request import pathname2url
 
 import numpy as np
+from packaging.version import Version
 
 from . import constants
 
+if sys.version_info < (3, 10):
+    from importlib_metadata import packages_distributions
+else:
+    from importlib.metadata import packages_distributions
+
+
 # We're importing our own copy of urllib.parse because
 # we need to patch it to support asdf:// URIs, but it'd
 # be irresponsible to do this for all users of a
@@ -323,14 +332,12 @@ def get_class_name(obj, instance=True):
     return _CLASS_NAME_OVERRIDES.get(class_name, class_name)
 
 
-def minversion(module, version, inclusive=True, version_path="__version__"):
+def minversion(module, version, inclusive=True):
     """
     Returns `True` if the specified Python module satisfies a minimum version
     requirement, and `False` if not.
 
-    By default this uses `pkg_resources.parse_version` to do the version
-    comparison if available.  Otherwise it falls back on
-    `packaging.version.Version`.
+    Copied from astropy.utils.misc.minversion to avoid dependency on astropy.
 
     Parameters
     ----------
@@ -347,17 +354,14 @@ def minversion(module, version, inclusive=True, version_path="__version__"):
     inclusive : `bool`
         The specified version meets the requirement inclusively (i.e. ``>=``)
         as opposed to strictly greater than (default: `True`).
-
-    version_path : `str`
-        A dotted attribute path to follow in the module for the version.
-        Defaults to just ``'__version__'``, which should work for most Python
-        modules.
     """
 
     if isinstance(module, types.ModuleType):
         module_name = module.__name__
+        module_version = getattr(module, "__version__", None)
     elif isinstance(module, str):
         module_name = module
+        module_version = None
         try:
             module = resolve_name(module_name)
         except ImportError:
@@ -366,23 +370,24 @@ def minversion(module, version, inclusive=True, version_path="__version__"):
         raise ValueError(
             "module argument must be an actual imported "
             "module, or the import name of the module; "
-            "got {!r}".format(module)
+            f"got {repr(module)}"
         )
 
-    if "." not in version_path:
-        have_version = getattr(module, version_path)
-    else:
-        have_version = resolve_name(".".join([module.__name__, version_path]))
-
-    try:
-        from pkg_resources import parse_version
-    except ImportError:
-        from packaging.version import Version as parse_version
+    if module_version is None:
+        try:
+            module_version = metadata.version(module_name)
+        except metadata.PackageNotFoundError:
+            # Maybe the distribution name is different from package name.
+            # Calling packages_distributions is costly so we do it only
+            # if necessary, as only a few packages don't have the same
+            # distribution name.
+            dist_names = packages_distributions()
+            module_version = metadata.version(dist_names[module_name][0])
 
     if inclusive:
-        return parse_version(have_version) >= parse_version(version)
+        return Version(module_version) >= Version(version)
     else:
-        return parse_version(have_version) > parse_version(version)
+        return Version(module_version) > Version(version)
 
 
 class InheritDocstrings(type):
diff --git a/docs/conf.py b/docs/conf.py
index e25feacb9..b725c6c9a 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -1,9 +1,14 @@
 from pathlib import Path
 
 import tomli
-from pkg_resources import get_distribution
 from sphinx_asdf.conf import *  # noqa: F403, F401
 
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    from importlib_metadata import distribution
+
+
 # Get configuration information from `pyproject.toml`
 with open(Path(__file__).parent.parent / "pyproject.toml", "rb") as configuration_file:
     conf = tomli.load(configuration_file)
@@ -14,7 +19,7 @@
 author = f"{configuration['authors'][0]['name']} <{configuration['authors'][0]['email']}>"
 copyright = f"{datetime.datetime.now().year}, {configuration['authors'][0]['name']}"
 
-release = get_distribution(configuration["name"]).version
+release = distribution(configuration["name"]).version
 # for example take major/minor
 version = ".".join(release.split(".")[:2])
 
diff --git a/pyproject.toml b/pyproject.toml
index 535fc73da..b1d25746c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -17,9 +17,10 @@ dependencies = [
     'asdf-standard >=1.0.1',
     'asdf-transform-schemas >=0.2.2',
     'importlib_resources >=3; python_version <"3.9"',
+    'importlib-metadata >=3; python_version <"3.10"',
     'jmespath >=0.6.2',
     'jsonschema >=4.0.1',
-    'numpy >=1.10',
+    'numpy >=1.18',
     'packaging >=16.0',
     'pyyaml >=3.10',
     'semantic_version >=2.8',