diff --git a/autoware_vehicle_msgs/CMakeLists.txt b/autoware_vehicle_msgs/CMakeLists.txt
index 1df8b86..e6fb3ef 100644
--- a/autoware_vehicle_msgs/CMakeLists.txt
+++ b/autoware_vehicle_msgs/CMakeLists.txt
@@ -18,9 +18,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/SteeringReport.msg"
     "msg/TurnIndicatorsCommand.msg"
     "msg/TurnIndicatorsReport.msg"
-    "msg/VehicleControlCommand.msg"
-    "msg/VehicleKinematicState.msg"
-    "msg/VehicleOdometry.msg"
     "msg/VelocityReport.msg"
     "srv/ControlModeCommand.srv"
   DEPENDENCIES
diff --git a/autoware_vehicle_msgs/msg/VehicleControlCommand.msg b/autoware_vehicle_msgs/msg/VehicleControlCommand.msg
deleted file mode 100644
index 3728ccd..0000000
--- a/autoware_vehicle_msgs/msg/VehicleControlCommand.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-builtin_interfaces/Time stamp
-float32 long_accel_mps2
-float32 velocity_mps
-float32 front_wheel_angle_rad
-float32 rear_wheel_angle_rad
diff --git a/autoware_vehicle_msgs/msg/VehicleKinematicState.msg b/autoware_vehicle_msgs/msg/VehicleKinematicState.msg
deleted file mode 100644
index 950c75f..0000000
--- a/autoware_vehicle_msgs/msg/VehicleKinematicState.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-std_msgs/Header header
-autoware_planning_msgs/TrajectoryPoint state
-geometry_msgs/Transform delta
diff --git a/autoware_vehicle_msgs/msg/VehicleOdometry.msg b/autoware_vehicle_msgs/msg/VehicleOdometry.msg
deleted file mode 100644
index 7ffcd83..0000000
--- a/autoware_vehicle_msgs/msg/VehicleOdometry.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-builtin_interfaces/Time stamp
-float32 velocity_mps
-float32 front_wheel_angle_rad
-float32 rear_wheel_angle_rad