diff --git a/src/jaxsim/utils.py b/src/jaxsim/utils.py
index 07a6bef5e..509468e33 100644
--- a/src/jaxsim/utils.py
+++ b/src/jaxsim/utils.py
@@ -3,7 +3,6 @@
 import copy
 from typing import Any, ContextManager, TypeVar
 
-import jax.abstract_arrays
 import jax.flatten_util
 import jax.interpreters.partial_eval
 import jax_dataclasses