diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt
index bf48e8fcac..454e0e7ef0 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 fe4cec1c0f..a8ae9ec2d9 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 ee8d52fa40..b35eb6e93c 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
@@ -45,57 +45,6 @@ using BoundingBox = autoware_auto_perception_msgs::msg::BoundingBox;
 
 namespace tf2
 {
-#ifdef DEFINE_LEGACY_FUNCTION
-/*************/
-/** Point32 **/
-/*************/
-
-/** \brief Apply a geometry_msgs TransformStamped to a geometry_msgs Point32 type.
- * This function is a specialization of the doTransform template defined in tf2/convert.h.
- * \param t_in The point to transform, as a Point32 message.
- * \param t_out The transformed point, as a Point32 message.
- * \param transform The timestamped transform to apply, as a TransformStamped message.
- */
-template <>
-inline void doTransform(
-  const geometry_msgs::msg::Point32 & t_in, geometry_msgs::msg::Point32 & t_out,
-  const geometry_msgs::msg::TransformStamped & transform)
-{
-  const KDL::Vector v_out = gmTransformToKDL(transform) * KDL::Vector(t_in.x, t_in.y, t_in.z);
-  t_out.x = static_cast<float>(v_out[0]);
-  t_out.y = static_cast<float>(v_out[1]);
-  t_out.z = static_cast<float>(v_out[2]);
-}
-
-/*************/
-/** Polygon **/
-/*************/
-
-/** \brief Apply a geometry_msgs TransformStamped to a geometry_msgs Polygon type.
- * This function is a specialization of the doTransform template defined in tf2/convert.h.
- * \param t_in The polygon to transform.
- * \param t_out The transformed polygon.
- * \param transform The timestamped transform to apply, as a TransformStamped message.
- */
-template <>
-inline void doTransform(
-  const geometry_msgs::msg::Polygon & t_in, geometry_msgs::msg::Polygon & t_out,
-  const geometry_msgs::msg::TransformStamped & transform)
-{
-  // Don't call the Point32 doTransform to avoid doing this conversion every time
-  const auto kdl_frame = gmTransformToKDL(transform);
-  // We don't use std::back_inserter to allow aliasing between t_in and t_out
-  t_out.points.resize(t_in.points.size());
-  for (size_t i = 0; i < t_in.points.size(); ++i) {
-    const KDL::Vector v_out =
-      kdl_frame * KDL::Vector(t_in.points[i].x, t_in.points[i].y, t_in.points[i].z);
-    t_out.points[i].x = static_cast<float>(v_out[0]);
-    t_out.points[i].y = static_cast<float>(v_out[1]);
-    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 542d4daa0c..f62e418371 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
   ${EIGEN3_INCLUDE_DIR}
 )
diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt
index 694bddf421..0d7b636646 100644
--- a/planning/surround_obstacle_checker/CMakeLists.txt
+++ b/planning/surround_obstacle_checker/CMakeLists.txt
@@ -18,12 +18,6 @@ ament_auto_add_library(${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}
 )