diff --git a/map/autoware_lanelet2_map_visualizer/package.xml b/map/autoware_lanelet2_map_visualizer/package.xml
index 0244a5f010aa4..3c3bb24c18399 100644
--- a/map/autoware_lanelet2_map_visualizer/package.xml
+++ b/map/autoware_lanelet2_map_visualizer/package.xml
@@ -24,7 +24,6 @@
   <depend>autoware_map_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_map_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>