diff --git a/common/autoware_trajectory/package.xml b/common/autoware_trajectory/package.xml
index 8ce9cedd40d8f..bf935724684bc 100644
--- a/common/autoware_trajectory/package.xml
+++ b/common/autoware_trajectory/package.xml
@@ -20,7 +20,6 @@
   <depend>lanelet2_core</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>