diff --git a/api/.flake8 b/api/.flake8
index d654020fa7f..ee1a726e611 100644
--- a/api/.flake8
+++ b/api/.flake8
@@ -33,7 +33,7 @@ per-file-ignores =
     src/opentrons/simulate.py:ANN,D
     src/opentrons/types.py:ANN,D
     src/opentrons/calibration_storage/*:ANN,D
-    src/opentrons/commands/*:D
+    src/opentrons/legacy_commands/*:D
     src/opentrons/config/*:ANN,D
     src/opentrons/drivers/*:ANN,D
     src/opentrons/hardware_control/*:ANN,D
@@ -51,7 +51,7 @@ per-file-ignores =
     tests/opentrons/test_types.py:ANN,D
     tests/opentrons/conftest.py:ANN,D
     tests/opentrons/calibration_storage/*:ANN,D
-    tests/opentrons/commands/*:ANN,D
+    tests/opentrons/legacy_commands/*:ANN,D
     tests/opentrons/config/*:ANN,D
     tests/opentrons/data/*:ANN,D
     tests/opentrons/drivers/*:ANN,D
diff --git a/api/src/opentrons/execute.py b/api/src/opentrons/execute.py
index a35f4a91d8d..e851d8a44f0 100644
--- a/api/src/opentrons/execute.py
+++ b/api/src/opentrons/execute.py
@@ -28,7 +28,7 @@
 
 from opentrons import protocol_api, __version__, should_use_ot3
 
-from opentrons.commands import types as command_types
+from opentrons.legacy_commands import types as command_types
 
 from opentrons.hardware_control import (
     API as OT2API,
@@ -333,7 +333,7 @@ def execute(  # noqa: C901
               'text': string_command_text,
               # The rest of this struct is
               # command-dependent; see
-              # opentrons.commands.commands.
+              # opentrons.legacy_commands.commands.
              }
           }
 
diff --git a/api/src/opentrons/legacy_broker.py b/api/src/opentrons/legacy_broker.py
index 838a75b7759..b58a779134e 100644
--- a/api/src/opentrons/legacy_broker.py
+++ b/api/src/opentrons/legacy_broker.py
@@ -5,7 +5,7 @@
 from typing import Callable, Dict, List
 from typing_extensions import Literal
 
-from opentrons.commands import types
+from opentrons.legacy_commands import types
 
 
 MODULE_LOG = logging.getLogger(__name__)
@@ -16,7 +16,7 @@ class LegacyBroker:
 
     Deprecated:
         Use the newer, more generic `opentrons.utils.Broker` class instead.
-        This class is coupled to old types from `opentrons.commands`.
+        This class is coupled to old types from `opentrons.legacy_commands`.
         https://opentrons.atlassian.net/browse/RSS-270
     """
 
diff --git a/api/src/opentrons/legacy_commands/__init__.py b/api/src/opentrons/legacy_commands/__init__.py
new file mode 100644
index 00000000000..558ad9b87c0
--- /dev/null
+++ b/api/src/opentrons/legacy_commands/__init__.py
@@ -0,0 +1 @@
+"""Command models from before v5.0, before Protocol Engine."""
diff --git a/api/src/opentrons/commands/commands.py b/api/src/opentrons/legacy_commands/commands.py
similarity index 100%
rename from api/src/opentrons/commands/commands.py
rename to api/src/opentrons/legacy_commands/commands.py
diff --git a/api/src/opentrons/commands/helpers.py b/api/src/opentrons/legacy_commands/helpers.py
similarity index 100%
rename from api/src/opentrons/commands/helpers.py
rename to api/src/opentrons/legacy_commands/helpers.py
diff --git a/api/src/opentrons/commands/module_commands.py b/api/src/opentrons/legacy_commands/module_commands.py
similarity index 100%
rename from api/src/opentrons/commands/module_commands.py
rename to api/src/opentrons/legacy_commands/module_commands.py
diff --git a/api/src/opentrons/commands/protocol_commands.py b/api/src/opentrons/legacy_commands/protocol_commands.py
similarity index 100%
rename from api/src/opentrons/commands/protocol_commands.py
rename to api/src/opentrons/legacy_commands/protocol_commands.py
diff --git a/api/src/opentrons/commands/publisher.py b/api/src/opentrons/legacy_commands/publisher.py
similarity index 100%
rename from api/src/opentrons/commands/publisher.py
rename to api/src/opentrons/legacy_commands/publisher.py
diff --git a/api/src/opentrons/commands/types.py b/api/src/opentrons/legacy_commands/types.py
similarity index 100%
rename from api/src/opentrons/commands/types.py
rename to api/src/opentrons/legacy_commands/types.py
diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py
index 5af30f52203..fdcf7a0c4f4 100644
--- a/api/src/opentrons/protocol_api/instrument_context.py
+++ b/api/src/opentrons/protocol_api/instrument_context.py
@@ -11,9 +11,9 @@
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.hardware_control.dev_types import PipetteDict
 from opentrons import types
-from opentrons.commands import commands as cmds
+from opentrons.legacy_commands import commands as cmds
 
-from opentrons.commands import publisher
+from opentrons.legacy_commands import publisher
 from opentrons.protocols.advanced_control.mix import mix_from_kwargs
 from opentrons.protocols.advanced_control import transfers
 
diff --git a/api/src/opentrons/protocol_api/module_contexts.py b/api/src/opentrons/protocol_api/module_contexts.py
index f525fe6b320..5e9d412835e 100644
--- a/api/src/opentrons/protocol_api/module_contexts.py
+++ b/api/src/opentrons/protocol_api/module_contexts.py
@@ -8,8 +8,8 @@
 
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.hardware_control.modules import ThermocyclerStep
-from opentrons.commands import module_commands as cmds
-from opentrons.commands.publisher import CommandPublisher, publish
+from opentrons.legacy_commands import module_commands as cmds
+from opentrons.legacy_commands.publisher import CommandPublisher, publish
 from opentrons.protocols.api_support.types import APIVersion
 from opentrons.protocols.api_support.util import APIVersionError, requires_version
 
diff --git a/api/src/opentrons/protocol_api/protocol_context.py b/api/src/opentrons/protocol_api/protocol_context.py
index 2dd7815c09f..feb8f56d91c 100644
--- a/api/src/opentrons/protocol_api/protocol_context.py
+++ b/api/src/opentrons/protocol_api/protocol_context.py
@@ -20,9 +20,13 @@
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.hardware_control import SyncHardwareAPI
 from opentrons.hardware_control.modules.types import MagneticBlockModel
-from opentrons.commands import protocol_commands as cmds, types as cmd_types
-from opentrons.commands.helpers import stringify_labware_movement_command
-from opentrons.commands.publisher import CommandPublisher, publish, publish_context
+from opentrons.legacy_commands import protocol_commands as cmds, types as cmd_types
+from opentrons.legacy_commands.helpers import stringify_labware_movement_command
+from opentrons.legacy_commands.publisher import (
+    CommandPublisher,
+    publish,
+    publish_context,
+)
 from opentrons.protocols.api_support import instrument as instrument_support
 from opentrons.protocols.api_support.deck_type import (
     NoTrashDefinedError,
diff --git a/api/src/opentrons/protocol_engine/clients/sync_client.py b/api/src/opentrons/protocol_engine/clients/sync_client.py
index 53703c16dee..f9c9e2ee6c6 100644
--- a/api/src/opentrons/protocol_engine/clients/sync_client.py
+++ b/api/src/opentrons/protocol_engine/clients/sync_client.py
@@ -6,7 +6,9 @@
 from opentrons_shared_data.labware.dev_types import LabwareUri
 from opentrons_shared_data.labware.labware_definition import LabwareDefinition
 
-from opentrons.commands.protocol_commands import comment as make_legacy_comment_command
+from opentrons.legacy_commands.protocol_commands import (
+    comment as make_legacy_comment_command,
+)
 from opentrons.types import MountType
 from opentrons.hardware_control.modules.types import ThermocyclerStep
 
diff --git a/api/src/opentrons/protocol_runner/legacy_command_mapper.py b/api/src/opentrons/protocol_runner/legacy_command_mapper.py
index 53846baf653..ea212123cb3 100644
--- a/api/src/opentrons/protocol_runner/legacy_command_mapper.py
+++ b/api/src/opentrons/protocol_runner/legacy_command_mapper.py
@@ -6,7 +6,7 @@
 
 from opentrons_shared_data.pipette.dev_types import PipetteNameType
 from opentrons.types import MountType, DeckSlotName, Location
-from opentrons.commands import types as legacy_command_types
+from opentrons.legacy_commands import types as legacy_command_types
 from opentrons.protocol_engine import (
     ProtocolEngineError,
     actions as pe_actions,
diff --git a/api/src/opentrons/protocol_runner/legacy_context_plugin.py b/api/src/opentrons/protocol_runner/legacy_context_plugin.py
index 3e32877f232..7dd882f0fb7 100644
--- a/api/src/opentrons/protocol_runner/legacy_context_plugin.py
+++ b/api/src/opentrons/protocol_runner/legacy_context_plugin.py
@@ -5,7 +5,7 @@
 from contextlib import ExitStack
 from typing import List, Optional
 
-from opentrons.commands.types import CommandMessage as LegacyCommand
+from opentrons.legacy_commands.types import CommandMessage as LegacyCommand
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.protocol_engine import AbstractPlugin, actions as pe_actions
 from opentrons.util.broker import ReadOnlyBroker
diff --git a/api/src/opentrons/protocols/duration/estimator.py b/api/src/opentrons/protocols/duration/estimator.py
index 6f481c29772..5e3b6ef2663 100644
--- a/api/src/opentrons/protocols/duration/estimator.py
+++ b/api/src/opentrons/protocols/duration/estimator.py
@@ -7,7 +7,7 @@
 
 from dataclasses import dataclass
 
-from opentrons.commands import types
+from opentrons.legacy_commands import types
 from opentrons.protocols.api_support.deck_type import (
     guess_from_global_config as guess_deck_type_from_global_config,
 )
diff --git a/api/src/opentrons/simulate.py b/api/src/opentrons/simulate.py
index c5f48c9d1bd..f552a99571f 100644
--- a/api/src/opentrons/simulate.py
+++ b/api/src/opentrons/simulate.py
@@ -54,7 +54,7 @@
 from opentrons.legacy_broker import LegacyBroker
 from opentrons.config import IS_ROBOT
 from opentrons import protocol_api
-from opentrons.commands import types as command_types
+from opentrons.legacy_commands import types as command_types
 
 from opentrons.protocols import parse, bundle
 from opentrons.protocols.types import (
@@ -114,7 +114,7 @@
 
 
 # TODO(mm, 2023-10-05): Type _SimulateResultRunLog more precisely by using TypedDicts from
-# opentrons.commands.
+# opentrons.legacy_commands.
 _SimulateResultRunLog = List[Mapping[str, Any]]
 _SimulateResult = Tuple[_SimulateResultRunLog, Optional[BundleContents]]
 
@@ -453,7 +453,7 @@ def simulate(
 
         - ``payload``: The command. The human-readable run log text is available at
           ``payload["text"]``. The other keys of ``payload`` are command-dependent;
-          see ``opentrons.commands``.
+          see ``opentrons.legacy_commands``.
 
           .. note::
             In older software versions, ``payload["text"]`` was a
diff --git a/api/tests/opentrons/commands/__init__.py b/api/tests/opentrons/commands/__init__.py
deleted file mode 100644
index e69de29bb2d..00000000000
diff --git a/api/src/opentrons/commands/__init__.py b/api/tests/opentrons/legacy_commands/__init__.py
similarity index 100%
rename from api/src/opentrons/commands/__init__.py
rename to api/tests/opentrons/legacy_commands/__init__.py
diff --git a/api/tests/opentrons/commands/test_protocol_commands.py b/api/tests/opentrons/legacy_commands/test_protocol_commands.py
similarity index 96%
rename from api/tests/opentrons/commands/test_protocol_commands.py
rename to api/tests/opentrons/legacy_commands/test_protocol_commands.py
index e7fb31aed1c..1ff5475f95b 100644
--- a/api/tests/opentrons/commands/test_protocol_commands.py
+++ b/api/tests/opentrons/legacy_commands/test_protocol_commands.py
@@ -1,5 +1,5 @@
 import pytest
-from opentrons.commands import protocol_commands
+from opentrons.legacy_commands import protocol_commands
 
 
 @pytest.mark.parametrize(
diff --git a/api/tests/opentrons/commands/test_publisher.py b/api/tests/opentrons/legacy_commands/test_publisher.py
similarity index 97%
rename from api/tests/opentrons/commands/test_publisher.py
rename to api/tests/opentrons/legacy_commands/test_publisher.py
index a88e6c04523..359b6b3c5fd 100644
--- a/api/tests/opentrons/commands/test_publisher.py
+++ b/api/tests/opentrons/legacy_commands/test_publisher.py
@@ -1,12 +1,16 @@
-"""Tests for opentrons.commands.publisher."""
+"""Tests for opentrons.legacy_commands.publisher."""
 from __future__ import annotations
 
 import pytest
 from decoy import Decoy, matchers
 from typing import Any, Dict, cast
 from opentrons.legacy_broker import LegacyBroker
-from opentrons.commands.types import Command as CommandDict, CommandMessage
-from opentrons.commands.publisher import CommandPublisher, publish, publish_context
+from opentrons.legacy_commands.types import Command as CommandDict, CommandMessage
+from opentrons.legacy_commands.publisher import (
+    CommandPublisher,
+    publish,
+    publish_context,
+)
 
 
 @pytest.fixture
diff --git a/api/tests/opentrons/protocol_runner/test_legacy_command_mapper.py b/api/tests/opentrons/protocol_runner/test_legacy_command_mapper.py
index 8a8ec50b779..23b7ecac3bb 100644
--- a/api/tests/opentrons/protocol_runner/test_legacy_command_mapper.py
+++ b/api/tests/opentrons/protocol_runner/test_legacy_command_mapper.py
@@ -7,7 +7,7 @@
 from decoy import matchers, Decoy
 
 from opentrons.hardware_control.dev_types import PipetteDict
-from opentrons.commands.types import CommentMessage, PauseMessage, CommandMessage
+from opentrons.legacy_commands.types import CommentMessage, PauseMessage, CommandMessage
 from opentrons.protocol_engine import (
     DeckSlotLocation,
     ModuleLocation,
diff --git a/api/tests/opentrons/protocol_runner/test_legacy_context_plugin.py b/api/tests/opentrons/protocol_runner/test_legacy_context_plugin.py
index 1f7de8388ca..f11676bcd37 100644
--- a/api/tests/opentrons/protocol_runner/test_legacy_context_plugin.py
+++ b/api/tests/opentrons/protocol_runner/test_legacy_context_plugin.py
@@ -5,7 +5,10 @@
 from datetime import datetime
 from typing import Callable
 
-from opentrons.commands.types import CommandMessage as LegacyCommand, PauseMessage
+from opentrons.legacy_commands.types import (
+    CommandMessage as LegacyCommand,
+    PauseMessage,
+)
 from opentrons.protocol_engine import (
     StateView,
     actions as pe_actions,
diff --git a/api/tests/opentrons/protocols/duration/test_estimator.py b/api/tests/opentrons/protocols/duration/test_estimator.py
index 92614869641..594f1cfad57 100644
--- a/api/tests/opentrons/protocols/duration/test_estimator.py
+++ b/api/tests/opentrons/protocols/duration/test_estimator.py
@@ -3,7 +3,7 @@
 import math
 import pytest
 
-from opentrons.commands import types
+from opentrons.legacy_commands import types
 from opentrons.protocol_api import InstrumentContext
 from opentrons.protocols.duration.estimator import (
     DurationEstimator,
diff --git a/api/tests/opentrons/test_legacy_broker.py b/api/tests/opentrons/test_legacy_broker.py
index 2351f73e348..719fe43052d 100644
--- a/api/tests/opentrons/test_legacy_broker.py
+++ b/api/tests/opentrons/test_legacy_broker.py
@@ -2,8 +2,8 @@
 
 from typing import List, NamedTuple, cast
 
-from opentrons.commands.types import CommandMessage
-from opentrons.commands.publisher import CommandPublisher, publish
+from opentrons.legacy_commands.types import CommandMessage
+from opentrons.legacy_commands.publisher import CommandPublisher, publish
 
 
 def _my_command(arg1: int, arg2: str = "", arg3: str = "") -> CommandMessage: