diff --git a/include/fastrtps/rtps/reader/StatelessReader.h b/include/fastrtps/rtps/reader/StatelessReader.h
deleted file mode 100644
index 03aad9110ef..00000000000
--- a/include/fastrtps/rtps/reader/StatelessReader.h
+++ /dev/null
@@ -1,25 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/**
- * @file StatelessReader.h
- */
-
-
-#ifndef FASTRTPS_RTPS_READER_STATELESSREADER_H_
-#define FASTRTPS_RTPS_READER_STATELESSREADER_H_
-
-#include <fastdds/rtps/reader/StatelessReader.h>
-
-#endif /* FASTRTPS_RTPS_READER_STATELESSREADER_H_ */
diff --git a/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp b/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
index 150167ac954..a8ec878e3bf 100644
--- a/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
+++ b/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
@@ -23,10 +23,9 @@
 
 #include <fastdds/rtps/builtin/data/BuiltinEndpoints.hpp>
 #include <fastdds/rtps/common/EntityId_t.hpp>
-#include <fastdds/rtps/reader/StatelessReader.h>
-
 #include <rtps/builtin/BuiltinReader.hpp>
 #include <rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpoints.hpp>
+#include <rtps/reader/StatelessReader.h>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
index e9000de1351..ca73f43b34f 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
@@ -33,7 +33,6 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/resources/TimedEvent.h>
 #include <fastdds/rtps/writer/StatelessWriter.h>
 
@@ -50,6 +49,7 @@
 #include <rtps/network/utils/external_locators.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/reader/StatefulReader.h>
+#include <rtps/reader/StatelessReader.h>
 #include <utils/shared_mutex.hpp>
 #include <utils/TimeConversion.hpp>
 
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
index bfc5d931c73..8d9c96af665 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
@@ -28,7 +28,6 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/resources/TimedEvent.h>
 #include <fastdds/rtps/writer/StatelessWriter.h>
 
@@ -45,6 +44,7 @@
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/reader/StatefulReader.h>
+#include <rtps/reader/StatelessReader.h>
 
 namespace eprosima {
 namespace fastrtps {
diff --git a/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp b/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
index 4e1caeea91a..a405b501426 100644
--- a/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
+++ b/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
@@ -22,13 +22,12 @@
 #include <memory>
 
 #include <fastdds/rtps/builtin/data/BuiltinEndpoints.hpp>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/writer/StatelessWriter.h>
-
 #include <rtps/builtin/BuiltinReader.hpp>
 #include <rtps/builtin/BuiltinWriter.hpp>
 #include <rtps/builtin/discovery/participant/PDPEndpoints.hpp>
 #include <rtps/history/ITopicPayloadPool.h>
+#include <rtps/reader/StatelessReader.h>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
index 350986c4fdc..60b2fe2c017 100644
--- a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
+++ b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
@@ -36,7 +36,6 @@
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/ParticipantDiscoveryInfo.h>
 #include <fastdds/rtps/participant/RTPSParticipant.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/RTPSDomain.h>
 #include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
@@ -65,6 +64,7 @@
 #include <rtps/reader/StatefulPersistentReader.h>
 #include <rtps/reader/StatelessPersistentReader.h>
 #include <rtps/reader/StatefulReader.h>
+#include <rtps/reader/StatelessReader.h>
 #include <statistics/rtps/GuidUtils.hpp>
 #include <utils/Semaphore.hpp>
 #include <utils/string_utilities.hpp>
diff --git a/src/cpp/rtps/reader/StatelessPersistentReader.h b/src/cpp/rtps/reader/StatelessPersistentReader.h
index 71371f6f00c..cb775976999 100644
--- a/src/cpp/rtps/reader/StatelessPersistentReader.h
+++ b/src/cpp/rtps/reader/StatelessPersistentReader.h
@@ -21,7 +21,7 @@
 #define _FASTDDS_RTPS_STATELESSPERSISTENTREADER_H_
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <fastdds/rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.h>
 
 namespace eprosima {
 namespace fastrtps {
diff --git a/src/cpp/rtps/reader/StatelessReader.cpp b/src/cpp/rtps/reader/StatelessReader.cpp
index 750eae24afb..e535e1c58f9 100644
--- a/src/cpp/rtps/reader/StatelessReader.cpp
+++ b/src/cpp/rtps/reader/StatelessReader.cpp
@@ -26,13 +26,13 @@
 #include <fastdds/rtps/common/VendorId_t.hpp>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/reader/ReaderListener.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
 #include <rtps/builtin/liveliness/WLP.h>
 #include <rtps/DataSharing/DataSharingListener.hpp>
 #include <rtps/DataSharing/ReaderPool.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatelessReader.h>
 #include <rtps/writer/LivelinessManager.hpp>
 
 #include "rtps/RTPSDomainImpl.hpp"
diff --git a/include/fastdds/rtps/reader/StatelessReader.h b/src/cpp/rtps/reader/StatelessReader.h
similarity index 100%
rename from include/fastdds/rtps/reader/StatelessReader.h
rename to src/cpp/rtps/reader/StatelessReader.h
diff --git a/src/cpp/rtps/security/SecurityManager.cpp b/src/cpp/rtps/security/SecurityManager.cpp
index 906d9c875f6..fb6bc95c8d2 100644
--- a/src/cpp/rtps/security/SecurityManager.cpp
+++ b/src/cpp/rtps/security/SecurityManager.cpp
@@ -32,7 +32,6 @@
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/security/accesscontrol/AccessControl.h>
 #include <fastdds/rtps/security/accesscontrol/EndpointSecurityAttributes.h>
 #include <fastdds/rtps/security/accesscontrol/ParticipantSecurityAttributes.h>
@@ -47,6 +46,7 @@
 #include <rtps/network/NetworkFactory.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/reader/StatefulReader.h>
+#include <rtps/reader/StatelessReader.h>
 #include <security/OpenSSLInit.hpp>
 
 #define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_SECURE_WRITER (1 << 20)
diff --git a/test/mock/rtps/StatelessReader/fastdds/rtps/reader/StatelessReader.h b/test/mock/rtps/StatelessReader/rtps/reader/StatelessReader.h
similarity index 100%
rename from test/mock/rtps/StatelessReader/fastdds/rtps/reader/StatelessReader.h
rename to test/mock/rtps/StatelessReader/rtps/reader/StatelessReader.h
diff --git a/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp b/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
index 3fd9fc0c827..f62c6f52d51 100644
--- a/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
+++ b/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
@@ -3,7 +3,7 @@
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastdds/dds/topic/Topic.hpp>
 #include <fastdds/utils/TimedMutex.hpp>
-#include <fastdds/rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.h>
 
 
 #include <gmock/gmock.h>
diff --git a/test/unittest/rtps/security/SecurityTests.hpp b/test/unittest/rtps/security/SecurityTests.hpp
index f0a3c78313d..af71ccde354 100644
--- a/test/unittest/rtps/security/SecurityTests.hpp
+++ b/test/unittest/rtps/security/SecurityTests.hpp
@@ -20,7 +20,6 @@
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/security/accesscontrol/ParticipantSecurityAttributes.h>
 #include <fastdds/rtps/security/common/Handle.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
@@ -29,6 +28,7 @@
 #include <rtps/builtin/discovery/participant/PDP.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/reader/StatefulReader.h>
+#include <rtps/reader/StatelessReader.h>
 #include <rtps/security/MockAuthenticationPlugin.h>
 #include <rtps/security/MockCryptographyPlugin.h>
 #include <rtps/security/SecurityManager.h>