diff --git a/dvc/remote/s3.py b/dvc/remote/s3.py
index 2594a8a63..6366fc426 100644
--- a/dvc/remote/s3.py
+++ b/dvc/remote/s3.py
@@ -7,7 +7,7 @@ import threading
 
 from funcy import cached_property, wrap_prop
 
-from dvc.config import Config
+from dvc.config import Config, ConfigError
 from dvc.exceptions import DvcException
 from dvc.exceptions import ETagMismatchError
 from dvc.path_info import CloudURLInfo
@@ -318,44 +318,20 @@ class RemoteS3(RemoteBASE):
             'SSEKMSKeyId', 'WebsiteRedirectLocation'
           ]
         """
-        overwriting_acl_grantees = False
 
-        self.grant_full_control = config.get(
-            Config.SECTION_AWS_GRANT_FULL_CONTROL, ""
-        )
-        if self.grant_full_control:
-            self.extra_args["GrantFullControl"] = self.grant_full_control
-            overwriting_acl_grantees = True
+        grants = {
+            Config.SECTION_AWS_GRANT_FULL_CONTROL: "GrantFullControl",
+            Config.SECTION_AWS_GRANT_READ: "GrantRead",
+            Config.SECTION_AWS_GRANT_READ_ACP: "GrantReadACP",
+            Config.SECTION_AWS_GRANT_WRITE_ACP: "GrantWriteACP",
+        }
 
-        self.grant_read = config.get(Config.SECTION_AWS_GRANT_READ, "")
-        if self.grant_read:
-            self.extra_args["GrantRead"] = self.grant_read
-            overwriting_acl_grantees = True
+        for grant_option, extra_args_key in grants.items():
+            if config.get(grant_option, ""):
+                if self.acl:
+                    raise ConfigError(
+                        "`acl` and `grant_*` AWS S3 config options "
+                        "are mutually exclusive"
+                    )
 
-        self.grant_read_acp = config.get(Config.SECTION_AWS_GRANT_READ_ACP, "")
-        if self.grant_read_acp:
-            self.extra_args["GrantReadACP"] = self.grant_read_acp
-            overwriting_acl_grantees = True
-
-        self.grant_write_acp = config.get(
-            Config.SECTION_AWS_GRANT_WRITE_ACP, ""
-        )
-        if self.grant_write_acp:
-            self.extra_args["GrantWriteACP"] = self.grant_write_acp
-            overwriting_acl_grantees = True
-
-        if overwriting_acl_grantees:
-            overwriting_fields = [
-                Config.SECTION_AWS_GRANT_FULL_CONTROL,
-                Config.SECTION_AWS_GRANT_READ,
-                Config.SECTION_AWS_GRANT_READ_ACP,
-                Config.SECTION_AWS_GRANT_WRITE_ACP,
-            ]
-            warning_message = [
-                "Using one of the [{0}] will".format(
-                    ", ".join(overwriting_fields)
-                ),
-                "overwrite default ACL Grantees list. Default ACL Grantees",
-                "list include Owner with FULL_CONTROL permissions.",
-            ]
-            logger.warning(" ".join(warning_message))
+                self.extra_args[extra_args_key] = config.get(grant_option)
diff --git a/tests/unit/remote/test_s3.py b/tests/unit/remote/test_s3.py
index 53e96b1b6..57fcfcec7 100644
--- a/tests/unit/remote/test_s3.py
+++ b/tests/unit/remote/test_s3.py
@@ -1,40 +1,56 @@
-from unittest import TestCase
+import pytest
 
+from dvc.config import ConfigError
 from dvc.remote.s3 import RemoteS3
 
 
-class TestRemoteS3(TestCase):
-    bucket_name = "bucket-name"
-    prefix = "some/prefix"
-    url = "s3://{}/{}".format(bucket_name, prefix)
+bucket_name = "bucket-name"
+prefix = "some/prefix"
+url = "s3://{}/{}".format(bucket_name, prefix)
 
-    def test_init(self):
-        config = {"url": self.url}
-        remote = RemoteS3(None, config)
 
-        self.assertEqual(remote.path_info, self.url)
+@pytest.fixture(autouse=True)
+def grants():
+    return {
+        "grant_read": "id=read-permission-id,id=other-read-permission-id",
+        "grant_read_acp": "id=read-acp-permission-id",
+        "grant_write_acp": "id=write-acp-permission-id",
+        "grant_full_control": "id=full-control-permission-id",
+    }
 
-    def test_grants(self):
-        config = {
-            "url": self.url,
-            "grant_read": "id=read-permission-id,id=other-read-permission-id",
-            "grant_read_acp": "id=read-acp-permission-id",
-            "grant_write_acp": "id=write-acp-permission-id",
-            "grant_full_control": "id=full-control-permission-id",
-        }
-        remote = RemoteS3(None, config)
 
-        self.assertEqual(
-            remote.extra_args["GrantRead"],
-            "id=read-permission-id,id=other-read-permission-id",
-        )
-        self.assertEqual(
-            remote.extra_args["GrantReadACP"], "id=read-acp-permission-id"
-        )
-        self.assertEqual(
-            remote.extra_args["GrantWriteACP"], "id=write-acp-permission-id"
-        )
-        self.assertEqual(
-            remote.extra_args["GrantFullControl"],
-            "id=full-control-permission-id",
-        )
+def test_init():
+    config = {"url": url}
+    remote = RemoteS3(None, config)
+
+    assert remote.path_info == url
+
+
+def test_grants():
+    config = {
+        "url": url,
+        "grant_read": "id=read-permission-id,id=other-read-permission-id",
+        "grant_read_acp": "id=read-acp-permission-id",
+        "grant_write_acp": "id=write-acp-permission-id",
+        "grant_full_control": "id=full-control-permission-id",
+    }
+    remote = RemoteS3(None, config)
+
+    assert (
+        remote.extra_args["GrantRead"]
+        == "id=read-permission-id,id=other-read-permission-id"
+    )
+    assert remote.extra_args["GrantReadACP"] == "id=read-acp-permission-id"
+    assert remote.extra_args["GrantWriteACP"] == "id=write-acp-permission-id"
+    assert (
+        remote.extra_args["GrantFullControl"]
+        == "id=full-control-permission-id"
+    )
+
+
+def test_grants_mutually_exclusive_acl_error(grants):
+    for grant_option, grant_value in grants.items():
+        config = {"url": url, "acl": "public-read", grant_option: grant_value}
+
+        with pytest.raises(ConfigError):
+            RemoteS3(None, config)