diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
index eef7b6af1f9af..1063abfb61bbb 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
@@ -24,7 +24,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
index 68e2ead5a5ec7..e608e158b3ffe 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
@@ -33,7 +33,6 @@
   <depend>sensor_msgs</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
index 857716819d8cc..f0f663355821c 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
@@ -29,7 +29,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp
index c39c6e17101c5..72f20f1c63d96 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp
@@ -24,8 +24,6 @@
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
-#include <tier4_planning_msgs/msg/path_point_with_lane_id.hpp>
-#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp
index a5f9badd9f4f7..9ef3bf5c7f756 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp
@@ -31,7 +31,6 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/header.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
 
 #include <lanelet2_core/Forward.h>
 #include <pcl/point_cloud.h>
@@ -72,7 +71,6 @@ struct PlannerData
   // last observed infomation for UNKNOWN
   std::map<lanelet::Id, TrafficSignalStamped> traffic_light_id_map_raw_;
   std::map<lanelet::Id, TrafficSignalStamped> traffic_light_id_map_last_observed_;
-  std::optional<tier4_planning_msgs::msg::VelocityLimit> external_velocity_limit;
 
   // velocity smoother
   std::shared_ptr<autoware::velocity_smoother::SmootherBase> velocity_smoother_;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
index 51f4d9d984365..2fc682e695f6b 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
@@ -28,7 +28,6 @@
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
index 03a1bec5c6fe5..07b719689f51f 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
@@ -39,7 +39,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_metric_msgs</depend>
-  <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
index 9a607ba3b88cf..cefc84836beda 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
@@ -357,7 +357,6 @@ autoware::motion_velocity_planner::TrajectoryPoints MotionVelocityPlannerNode::s
   const geometry_msgs::msg::Pose current_pose = planner_data.current_odometry.pose.pose;
   const double v0 = planner_data.current_odometry.twist.twist.linear.x;
   const double a0 = planner_data.current_acceleration.accel.accel.linear.x;
-  const auto & external_v_limit = planner_data.external_velocity_limit;
   const auto & smoother = planner_data.velocity_smoother_;
 
   const auto traj_lateral_acc_filtered =
@@ -382,10 +381,6 @@ autoware::motion_velocity_planner::TrajectoryPoints MotionVelocityPlannerNode::s
   if (!smoother->apply(v0, a0, clipped, traj_smoothed, debug_trajectories, false)) {
     RCLCPP_ERROR(get_logger(), "failed to smooth");
   }
-  if (external_v_limit) {
-    autoware::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit(
-      0LU, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed);
-  }
   return traj_smoothed;
 }