diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt
index bf48e8fcaca3f..454e0e7ef044f 100644
--- a/common/autoware_auto_geometry/CMakeLists.txt
+++ b/common/autoware_auto_geometry/CMakeLists.txt
@@ -12,12 +12,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/bounding_box.cpp
 )
 
-if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
-  target_compile_definitions(${PROJECT_NAME} PRIVATE
-    DEFINE_LEGACY_FUNCTION
-  )
-endif()
-
 if(BUILD_TESTING)
   set(GEOMETRY_GTEST geometry_gtest)
   set(GEOMETRY_SRC test/src/test_geometry.cpp
diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt
index fe4cec1c0fc89..a8ae9ec2d962e 100755
--- a/common/autoware_auto_tf2/CMakeLists.txt
+++ b/common/autoware_auto_tf2/CMakeLists.txt
@@ -17,11 +17,6 @@ if(BUILD_TESTING)
     "tf2_geometry_msgs"
     "tf2_ros"
   )
-  if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
-    target_compile_definitions(test_tf2_autoware_auto_msgs PRIVATE
-      DEFINE_LEGACY_FUNCTION
-    )
-  endif()
 endif()
 
 ament_auto_package()
diff --git a/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp b/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp
index ee8d52fa402c0..9b20953a7b3c5 100644
--- a/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp
+++ b/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp
@@ -45,7 +45,7 @@ using BoundingBox = autoware_auto_perception_msgs::msg::BoundingBox;
 
 namespace tf2
 {
-#ifdef DEFINE_LEGACY_FUNCTION
+
 /*************/
 /** Point32 **/
 /*************/
@@ -94,7 +94,6 @@ inline void doTransform(
     t_out.points[i].z = static_cast<float>(v_out[2]);
   }
 }
-#endif
 
 /******************/
 /** Quaternion32 **/
diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt
index 542d4daa0c676..f62e418371401 100644
--- a/planning/behavior_path_planner/CMakeLists.txt
+++ b/planning/behavior_path_planner/CMakeLists.txt
@@ -58,12 +58,6 @@ ament_auto_add_library(behavior_path_planner_node SHARED
   src/marker_utils/lane_change/debug.cpp
 )
 
-if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
-  target_compile_definitions(behavior_path_planner_node PRIVATE
-    DEFINE_LEGACY_FUNCTION
-  )
-endif()
-
 target_include_directories(behavior_path_planner_node SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIR}
 )
diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt
index 694bddf421486..0d7b636646783 100644
--- a/planning/surround_obstacle_checker/CMakeLists.txt
+++ b/planning/surround_obstacle_checker/CMakeLists.txt
@@ -18,12 +18,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/node.cpp
 )
 
-if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4)
-  target_compile_definitions(${PROJECT_NAME} PRIVATE
-    DEFINE_LEGACY_FUNCTION
-  )
-endif()
-
 target_link_libraries(${PROJECT_NAME}
   ${PCL_LIBRARIES}
 )