It seems like a simple thing, but lots of peeps are removing their eye makeup all wrong. First things first, most cleansers can't handle full on eye makeup, especially if it's waterproof. Even non-waterproof mascara needs something besides cleanser to dissolve it. That way you won't get mascara smudges on your white towels when you dry your face.
So here's what you do. Get an oil-based eye makeup remover like the makeup-artist-preferred Lancome Bi-Facil. Soak a cotton pad with it and hold it on your closed eye for about 10 seconds. Then GENTLY wipe outwards. Then wash your face to rinse away all residue.
Don't EVER vigorously scrub or rub your eyes because it stretches out the skin and causes wrinkles.