diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
index 6b939a7dd0be9..699f80ec8356e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -41,7 +41,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>tier4_api_msgs</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.hpp
index 693f6c27a380d..d6f6ddfb7b6ad 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.hpp
@@ -23,7 +23,6 @@
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <tier4_api_msgs/msg/crosswalk_status.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
 #include <functional>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
index 8577ed1669b48..9b771c0d503a4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -57,7 +57,6 @@ using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::TrafficLightElement;
 using lanelet::autoware::Crosswalk;
-using tier4_api_msgs::msg::CrosswalkStatus;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 namespace
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.hpp
index 8189cbe7bc5d7..80c87e55c6696 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.hpp
@@ -24,7 +24,6 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <std_msgs/msg/string.hpp>
-#include <tier4_api_msgs/msg/intersection_status.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
 #include <functional>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 8ba8272712364..e051374ed3dda 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -56,7 +56,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_api_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp
index e260f582aae60..4efb58e38b74f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp
@@ -31,8 +31,6 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_api_msgs/msg/crosswalk_status.hpp>
-#include <tier4_api_msgs/msg/intersection_status.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp
index 309ba33a3498a..983aaec2acf4f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp
@@ -29,8 +29,6 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/header.hpp>
-#include <tier4_api_msgs/msg/crosswalk_status.hpp>
-#include <tier4_api_msgs/msg/intersection_status.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <tier4_v2x_msgs/msg/virtual_traffic_light_state_array.hpp>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
index 77b26aac09161..6d94e20cfdb1b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
@@ -44,7 +44,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_api_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>
   <depend>visualization_msgs</depend>