diff --git a/common/tier4_debug_rviz_plugin/README.md b/common/tier4_debug_rviz_plugin/README.md
index 91898161..df23bdb1 100644
--- a/common/tier4_debug_rviz_plugin/README.md
+++ b/common/tier4_debug_rviz_plugin/README.md
@@ -7,6 +7,6 @@ Note that jsk_overlay_utils.cpp and jsk_overlay_utils.hpp are BSD license.
 
 ### Float32MultiArrayStampedPieChart
 
-Pie chart from `tier4_debug_msgs::msg::Float32MultiArrayStamped`.
+Pie chart from `autoware_internal_debug_msgs::msg::Float32MultiArrayStamped`.
 
 ![float32_multi_array_stamped_pie_chart](./images/float32_multi_array_stamped_pie_chart.png)
diff --git a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp b/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp
index c8267c70..a5013dec 100644
--- a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp
+++ b/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp
@@ -60,7 +60,7 @@
 #include <rviz_common/validate_floats.hpp>
 #include <tier4_debug_rviz_plugin/jsk_overlay_utils.hpp>
 
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
 
 #include <mutex>
 
@@ -87,7 +87,7 @@ class Float32MultiArrayStampedPieChartDisplay : public rviz_common::Display
   virtual void onDisable();
   virtual void onInitialize();
   virtual void processMessage(
-    const tier4_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg);
+    const autoware_internal_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg);
   virtual void drawPlot(double val);
   virtual void update(float wall_dt, float ros_dt);
   // properties
@@ -114,7 +114,7 @@ class Float32MultiArrayStampedPieChartDisplay : public rviz_common::Display
   rviz_common::properties::FloatProperty * med_color_threshold_property_;
   rviz_common::properties::BoolProperty * clockwise_rotate_property_;
 
-  rclcpp::Subscription<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr sub_;
+  rclcpp::Subscription<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr sub_;
   int left_;
   int top_;
   uint16_t texture_size_;
diff --git a/common/tier4_debug_rviz_plugin/package.xml b/common/tier4_debug_rviz_plugin/package.xml
index 7e15e1a3..788ad33d 100644
--- a/common/tier4_debug_rviz_plugin/package.xml
+++ b/common/tier4_debug_rviz_plugin/package.xml
@@ -19,7 +19,6 @@
   <depend>rviz_common</depend>
   <depend>rviz_default_plugins</depend>
   <depend>rviz_rendering</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml b/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml
index 72864327..57205a43 100644
--- a/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml
+++ b/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml
@@ -2,7 +2,7 @@
   <class name="rviz_plugins/Float32MultiArrayStampedPieChart"
     type="rviz_plugins::Float32MultiArrayStampedPieChartDisplay"
     base_class_type="rviz_common::Display">
-    <description>Display drivable area of tier4_debug_msgs::msg::Float32MultiArrayStamped</description>
+    <description>Display drivable area of autoware_internal_debug_msgs::msg::Float32MultiArrayStamped</description>
   </class>
   <class name="rviz_plugins/StringStampedOverlayDisplay"
     type="rviz_plugins::StringStampedOverlayDisplay"
diff --git a/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp b/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp
index 460a00a6..bb147f1e 100644
--- a/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp
+++ b/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp
@@ -60,7 +60,8 @@ Float32MultiArrayStampedPieChartDisplay::Float32MultiArrayStampedPieChartDisplay
 : rviz_common::Display(), update_required_(false), first_time_(true), data_(0.0)
 {
   update_topic_property_ = new rviz_common::properties::StringProperty(
-    "Topic", "", "tier4_debug_msgs::msg::Float32MultiArrayStamped topic to subscribe to.", this,
+    "Topic", "",
+    "autoware_internal_debug_msgs::msg::Float32MultiArrayStamped topic to subscribe to.", this,
     SLOT(updateTopic()), this);
   data_index_property_ = new rviz_common::properties::IntProperty(
     "data index", 0, "data index in message to visualize", this, SLOT(updateDataIndex()));
@@ -178,7 +179,7 @@ void Float32MultiArrayStampedPieChartDisplay::update(
 }
 
 void Float32MultiArrayStampedPieChartDisplay::processMessage(
-  const tier4_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg)
+  const autoware_internal_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg)
 {
   std::lock_guard<std::mutex> lock(mutex_);
 
@@ -297,10 +298,11 @@ void Float32MultiArrayStampedPieChartDisplay::subscribe()
 
   if (topic_name.length() > 0 && topic_name != "/") {
     rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
-    sub_ = raw_node->create_subscription<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
-      topic_name, 1,
-      std::bind(
-        &Float32MultiArrayStampedPieChartDisplay::processMessage, this, std::placeholders::_1));
+    sub_ =
+      raw_node->create_subscription<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
+        topic_name, 1,
+        std::bind(
+          &Float32MultiArrayStampedPieChartDisplay::processMessage, this, std::placeholders::_1));
   }
 }
 
diff --git a/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp b/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp
index 6089aff7..423b05f1 100644
--- a/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp
+++ b/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp
@@ -22,9 +22,9 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
 
 class LateralErrorPublisher : public rclcpp::Node
 {
@@ -50,11 +50,11 @@ class LateralErrorPublisher : public rclcpp::Node
     sub_vehicle_pose_;  //!< @brief subscription for vehicle pose
   rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr
     sub_ground_truth_pose_;  //!< @brief subscription for gnss pose
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
     pub_control_lateral_error_;  //!< @brief publisher for control lateral error
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
     pub_localization_lateral_error_;  //!< @brief publisher for localization lateral error
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
     pub_lateral_error_;  //!< @brief publisher for lateral error (control + localization)
 
   /**
diff --git a/common/tier4_debug_tools/package.xml b/common/tier4_debug_tools/package.xml
index 53454235..978bf4dd 100644
--- a/common/tier4_debug_tools/package.xml
+++ b/common/tier4_debug_tools/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
@@ -17,7 +18,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <exec_depend>launch_ros</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rtree</exec_depend>
diff --git a/common/tier4_debug_tools/src/lateral_error_publisher.cpp b/common/tier4_debug_tools/src/lateral_error_publisher.cpp
index bd8ab750..d6030e9c 100644
--- a/common/tier4_debug_tools/src/lateral_error_publisher.cpp
+++ b/common/tier4_debug_tools/src/lateral_error_publisher.cpp
@@ -35,12 +35,13 @@ LateralErrorPublisher::LateralErrorPublisher(const rclcpp::NodeOptions & node_op
   sub_ground_truth_pose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "~/input/ground_truth_pose_with_covariance", rclcpp::QoS{1},
     std::bind(&LateralErrorPublisher::onGroundTruthPose, this, _1));
-  pub_control_lateral_error_ =
-    create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/control_lateral_error", 1);
+  pub_control_lateral_error_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
+    "~/control_lateral_error", 1);
   pub_localization_lateral_error_ =
-    create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/localization_lateral_error", 1);
+    create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
+      "~/localization_lateral_error", 1);
   pub_lateral_error_ =
-    create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/lateral_error", 1);
+    create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>("~/lateral_error", 1);
 }
 
 void LateralErrorPublisher::onTrajectory(
@@ -131,17 +132,17 @@ void LateralErrorPublisher::onGroundTruthPose(
   RCLCPP_DEBUG(this->get_logger(), "localization_error: %f", lateral_error);
 
   // Publish lateral errors
-  tier4_debug_msgs::msg::Float32Stamped control_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped control_msg;
   control_msg.stamp = this->now();
   control_msg.data = static_cast<float>(control_lateral_error);
   pub_control_lateral_error_->publish(control_msg);
 
-  tier4_debug_msgs::msg::Float32Stamped localization_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped localization_msg;
   localization_msg.stamp = this->now();
   localization_msg.data = static_cast<float>(localization_lateral_error);
   pub_localization_lateral_error_->publish(localization_msg);
 
-  tier4_debug_msgs::msg::Float32Stamped sum_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped sum_msg;
   sum_msg.stamp = this->now();
   sum_msg.data = static_cast<float>(lateral_error);
   pub_lateral_error_->publish(sum_msg);
diff --git a/control/stop_accel_evaluator/include/stop_accel_evaluator/stop_accel_evaluator_node.hpp b/control/stop_accel_evaluator/include/stop_accel_evaluator/stop_accel_evaluator_node.hpp
index 32c90570..243d7b7d 100644
--- a/control/stop_accel_evaluator/include/stop_accel_evaluator/stop_accel_evaluator_node.hpp
+++ b/control/stop_accel_evaluator/include/stop_accel_evaluator/stop_accel_evaluator_node.hpp
@@ -19,11 +19,11 @@
 #include "autoware/universe_utils/ros/self_pose_listener.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "sensor_msgs/msg/imu.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
-#include "tier4_debug_msgs/msg/float32_stamped.hpp"
 
 #include <deque>
 #include <memory>
@@ -31,11 +31,11 @@
 namespace stop_accel_evaluator
 {
 using autoware::universe_utils::SelfPoseListener;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::Imu;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
 
 class StopAccelEvaluatorNode : public rclcpp::Node
 {
diff --git a/control/stop_accel_evaluator/package.xml b/control/stop_accel_evaluator/package.xml
index 06828fe4..a0d20ee1 100644
--- a/control/stop_accel_evaluator/package.xml
+++ b/control/stop_accel_evaluator/package.xml
@@ -10,6 +10,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_signal_processing</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
@@ -18,7 +19,6 @@
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp b/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
index 4deb2732..f02f6360 100644
--- a/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
+++ b/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
@@ -21,7 +21,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include "autoware_control_msgs/msg/control.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <algorithm>
 #include <memory>
@@ -33,7 +33,8 @@ class VehicleCmdAnalyzer : public rclcpp::Node
 {
 private:
   rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_vehicle_cmd_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_;
   rclcpp::TimerBase::SharedPtr timer_control_;
 
   std::shared_ptr<autoware_control_msgs::msg::Control> vehicle_cmd_ptr_{nullptr};
diff --git a/control/vehicle_cmd_analyzer/package.xml b/control/vehicle_cmd_analyzer/package.xml
index 32b4585f..793d2b84 100644
--- a/control/vehicle_cmd_analyzer/package.xml
+++ b/control/vehicle_cmd_analyzer/package.xml
@@ -12,10 +12,10 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp b/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
index e4d4a467..f9a58916 100644
--- a/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
+++ b/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
@@ -33,7 +33,7 @@ VehicleCmdAnalyzer::VehicleCmdAnalyzer(const rclcpp::NodeOptions & options)
   sub_vehicle_cmd_ = this->create_subscription<autoware_control_msgs::msg::Control>(
     "/control/command/control_cmd", rclcpp::QoS(10),
     std::bind(&VehicleCmdAnalyzer::callbackVehicleCommand, this, std::placeholders::_1));
-  pub_debug_ = create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  pub_debug_ = create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/debug_values", rclcpp::QoS{1});
 
   // Timer
@@ -83,7 +83,7 @@ void VehicleCmdAnalyzer::publishDebugData()
   debug_values_.setValues(DebugValues::TYPE::CURRENT_TARGET_LATERAL_ACC, a_lat);
 
   // publish debug values
-  tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
+  autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
   debug_msg.stamp = this->now();
   for (const auto & v : debug_values_.getValues()) {
     debug_msg.data.push_back(v);
diff --git a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
index da44047d..38400931 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
@@ -24,13 +24,13 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 
+#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
 #include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "geometry_msgs/msg/twist_with_covariance_stamped.hpp"
 #include "sensor_msgs/msg/imu.hpp"
 #include "std_msgs/msg/float64.hpp"
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"
 
 #include <iostream>
 #include <memory>
@@ -71,7 +71,7 @@ class DeviationEstimator : public rclcpp::Node
 
   std::string imu_link_frame_;
 
-  std::vector<tier4_debug_msgs::msg::Float64Stamped> vx_all_;
+  std::vector<autoware_internal_debug_msgs::msg::Float64Stamped> vx_all_;
   std::vector<geometry_msgs::msg::Vector3Stamped> gyro_all_;
   std::vector<geometry_msgs::msg::PoseStamped> pose_buf_;
   std::vector<TrajectoryData> traj_data_list_for_gyro_;
diff --git a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/utils.hpp b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/utils.hpp
index bf4a2f0a..932393fc 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/utils.hpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/utils.hpp
@@ -18,10 +18,10 @@
 #include "deviation_estimator/autoware_universe_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"
 
 #include <tf2/transform_datatypes.h>
 
@@ -39,7 +39,7 @@
 struct TrajectoryData
 {
   std::vector<geometry_msgs::msg::PoseStamped> pose_list;
-  std::vector<tier4_debug_msgs::msg::Float64Stamped> vx_list;
+  std::vector<autoware_internal_debug_msgs::msg::Float64Stamped> vx_list;
   std::vector<geometry_msgs::msg::Vector3Stamped> gyro_list;
 };
 
@@ -95,12 +95,14 @@ double calculate_std_mean_const(const std::vector<T> & v, const double mean)
 
 struct CompareMsgTimestamp
 {
-  bool operator()(tier4_debug_msgs::msg::Float64Stamped const & t1, double const & t2) const
+  bool operator()(
+    autoware_internal_debug_msgs::msg::Float64Stamped const & t1, double const & t2) const
   {
     return rclcpp::Time(t1.stamp).seconds() < t2;
   }
 
-  bool operator()(tier4_debug_msgs::msg::Float64Stamped const & t1, rclcpp::Time const & t2) const
+  bool operator()(
+    autoware_internal_debug_msgs::msg::Float64Stamped const & t1, rclcpp::Time const & t2) const
   {
     return rclcpp::Time(t1.stamp).seconds() < t2.seconds();
   }
@@ -163,7 +165,7 @@ double norm_xy(const T p1, const U p2)
 double clip_radian(const double rad);
 
 geometry_msgs::msg::Point integrate_position(
-  const std::vector<tier4_debug_msgs::msg::Float64Stamped> & vx_list,
+  const std::vector<autoware_internal_debug_msgs::msg::Float64Stamped> & vx_list,
   const std::vector<geometry_msgs::msg::Vector3Stamped> & gyro_list, const double coef_vx,
   const double yaw_init);
 
@@ -176,9 +178,11 @@ geometry_msgs::msg::Vector3 integrate_orientation(
   const std::vector<geometry_msgs::msg::Vector3Stamped> & gyro_list,
   const geometry_msgs::msg::Vector3 & gyro_bias);
 
-double get_mean_abs_vx(const std::vector<tier4_debug_msgs::msg::Float64Stamped> & vx_list);
+double get_mean_abs_vx(
+  const std::vector<autoware_internal_debug_msgs::msg::Float64Stamped> & vx_list);
 double get_mean_abs_wz(const std::vector<geometry_msgs::msg::Vector3Stamped> & gyro_list);
-double get_mean_accel(const std::vector<tier4_debug_msgs::msg::Float64Stamped> & vx_list);
+double get_mean_accel(
+  const std::vector<autoware_internal_debug_msgs::msg::Float64Stamped> & vx_list);
 
 geometry_msgs::msg::Vector3 transform_vector3(
   const geometry_msgs::msg::Vector3 & vec, const geometry_msgs::msg::TransformStamped & transform);
diff --git a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/velocity_coef_module.hpp b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/velocity_coef_module.hpp
index 374ce03b..6ea4305e 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/velocity_coef_module.hpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/velocity_coef_module.hpp
@@ -17,9 +17,9 @@
 
 #include "deviation_estimator/utils.hpp"
 
+#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/vector3_stamped.hpp"
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"
 
 #include <utility>
 #include <vector>
diff --git a/localization/deviation_estimation_tools/deviation_estimator/package.xml b/localization/deviation_estimation_tools/deviation_estimator/package.xml
index c5e3dea0..71b50c9e 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/package.xml
+++ b/localization/deviation_estimation_tools/deviation_estimator/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
@@ -28,7 +29,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <exec_depend>rosbag2_storage_mcap</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
index 5296121f..c3dd0206 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
@@ -202,7 +202,7 @@ void DeviationEstimator::callback_pose_with_covariance(
 void DeviationEstimator::callback_wheel_odometry(
   const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr wheel_odometry_msg_ptr)
 {
-  tier4_debug_msgs::msg::Float64Stamped vx;
+  autoware_internal_debug_msgs::msg::Float64Stamped vx;
   vx.stamp = wheel_odometry_msg_ptr->header.stamp;
   vx.data = wheel_odometry_msg_ptr->longitudinal_velocity;
 
diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
index 59f7329e..d5c755e6 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
@@ -99,7 +99,7 @@ int main(int argc, char ** argv)
       if (index >= static_cast<int64_t>(trajectory_data_list.size())) {
         trajectory_data_list.resize(index + 1);
       }
-      tier4_debug_msgs::msg::Float64Stamped vx;
+      autoware_internal_debug_msgs::msg::Float64Stamped vx;
       vx.stamp = velocity_status_msg->header.stamp;
       vx.data = velocity_status_msg->longitudinal_velocity;
       trajectory_data_list[index].vx_list.push_back(vx);
diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/utils.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/utils.cpp
index 726fd7fd..c0a06a68 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/src/utils.cpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/src/utils.cpp
@@ -87,7 +87,7 @@ geometry_msgs::msg::Vector3 interpolate_vector3_stamped(
  * point
  */
 geometry_msgs::msg::Point integrate_position(
-  const std::vector<tier4_debug_msgs::msg::Float64Stamped> & vx_list,
+  const std::vector<autoware_internal_debug_msgs::msg::Float64Stamped> & vx_list,
   const std::vector<geometry_msgs::msg::Vector3Stamped> & gyro_list, const double coef_vx,
   const double yaw_init)
 {
@@ -153,7 +153,8 @@ geometry_msgs::msg::Vector3 integrate_orientation(
 /**
  * @brief calculate mean of |vx|
  */
-double get_mean_abs_vx(const std::vector<tier4_debug_msgs::msg::Float64Stamped> & vx_list)
+double get_mean_abs_vx(
+  const std::vector<autoware_internal_debug_msgs::msg::Float64Stamped> & vx_list)
 {
   double mean_abs_vx = 0;
   for (const auto & msg : vx_list) {
@@ -179,7 +180,8 @@ double get_mean_abs_wz(const std::vector<geometry_msgs::msg::Vector3Stamped> & g
 /**
  * @brief calculate mean of acceleration
  */
-double get_mean_accel(const std::vector<tier4_debug_msgs::msg::Float64Stamped> & vx_list)
+double get_mean_accel(
+  const std::vector<autoware_internal_debug_msgs::msg::Float64Stamped> & vx_list)
 {
   const double dt =
     (rclcpp::Time(vx_list.back().stamp) - rclcpp::Time(vx_list.front().stamp)).seconds();
diff --git a/localization/deviation_estimation_tools/deviation_evaluator/include/deviation_evaluator/deviation_evaluator.hpp b/localization/deviation_estimation_tools/deviation_evaluator/include/deviation_evaluator/deviation_evaluator.hpp
index 16110088..d2cbffde 100644
--- a/localization/deviation_estimation_tools/deviation_evaluator/include/deviation_evaluator/deviation_evaluator.hpp
+++ b/localization/deviation_estimation_tools/deviation_evaluator/include/deviation_evaluator/deviation_evaluator.hpp
@@ -20,6 +20,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/LinearMath/Quaternion.h"
 
+#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
 #include "geometry_msgs/msg/twist_with_covariance_stamped.hpp"
@@ -27,7 +28,6 @@
 #include "sensor_msgs/msg/imu.hpp"
 #include "std_msgs/msg/float64.hpp"
 #include "std_srvs/srv/set_bool.hpp"
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"
 
 #include <tf2/utils.h>
 
diff --git a/localization/deviation_estimation_tools/deviation_evaluator/package.xml b/localization/deviation_estimation_tools/deviation_evaluator/package.xml
index 69a2c29d..ca94345e 100644
--- a/localization/deviation_estimation_tools/deviation_evaluator/package.xml
+++ b/localization/deviation_estimation_tools/deviation_evaluator/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
@@ -25,7 +26,6 @@
   <depend>std_srvs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/autoware_planning_data_analyzer/README.md b/planning/autoware_planning_data_analyzer/README.md
index a4f2cafd..dedbd84e 100644
--- a/planning/autoware_planning_data_analyzer/README.md
+++ b/planning/autoware_planning_data_analyzer/README.md
@@ -12,9 +12,9 @@ ros2 launch autoware_planning_data_analyzer behavior_analyzer.launch.xml bag_pat
 
 ## Output
 
-| Name                      | Type                                              | Description                                                     |
-| ------------------------- | ------------------------------------------------- | --------------------------------------------------------------- |
-| `~/output/manual_metrics` | `tier4_debug_msgs::msg::Float32MultiArrayStamped` | Metrics calculated from the driver's driving trajectory.        |
-| `~/output/system_metrics` | `tier4_debug_msgs::msg::Float32MultiArrayStamped` | Metrics calculated from the autoware output.                    |
-| `~/output/manual_score`   | `tier4_debug_msgs::msg::Float32MultiArrayStamped` | Driving scores calculated from the driver's driving trajectory. |
-| `~/output/system_score`   | `tier4_debug_msgs::msg::Float32MultiArrayStamped` | Driving scores calculated from the autoware output.             |
+| Name                      | Type                                                          | Description                                                     |
+| ------------------------- | ------------------------------------------------------------- | --------------------------------------------------------------- |
+| `~/output/manual_metrics` | `autoware_internal_debug_msgs::msg::Float32MultiArrayStamped` | Metrics calculated from the driver's driving trajectory.        |
+| `~/output/system_metrics` | `autoware_internal_debug_msgs::msg::Float32MultiArrayStamped` | Metrics calculated from the autoware output.                    |
+| `~/output/manual_score`   | `autoware_internal_debug_msgs::msg::Float32MultiArrayStamped` | Driving scores calculated from the driver's driving trajectory. |
+| `~/output/system_score`   | `autoware_internal_debug_msgs::msg::Float32MultiArrayStamped` | Driving scores calculated from the autoware output.             |
diff --git a/planning/autoware_planning_data_analyzer/package.xml b/planning/autoware_planning_data_analyzer/package.xml
index ce4875c5..6f56b62f 100644
--- a/planning/autoware_planning_data_analyzer/package.xml
+++ b/planning/autoware_planning_data_analyzer/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_frenet_planner</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_path_sampler</depend>
diff --git a/planning/autoware_planning_data_analyzer/src/type_alias.hpp b/planning/autoware_planning_data_analyzer/src/type_alias.hpp
index 53b0e443..6435370e 100644
--- a/planning/autoware_planning_data_analyzer/src/type_alias.hpp
+++ b/planning/autoware_planning_data_analyzer/src/type_alias.hpp
@@ -18,6 +18,7 @@
 #include <autoware/route_handler/route_handler.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "autoware_map_msgs/msg/lanelet_map_bin.hpp"
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"
 #include "autoware_planning_msgs/msg/lanelet_route.hpp"
@@ -26,7 +27,6 @@
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "visualization_msgs/msg/marker.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 #include <std_srvs/srv/set_bool.hpp>
@@ -51,6 +51,7 @@ using autoware_vehicle_msgs::msg::SteeringReport;
 using route_handler::RouteHandler;
 
 // ros2
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
@@ -60,7 +61,6 @@ using nav_msgs::msg::Odometry;
 using std_srvs::srv::SetBool;
 using std_srvs::srv::Trigger;
 using tf2_msgs::msg::TFMessage;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 }  // namespace autoware::behavior_analyzer
diff --git a/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp b/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp
index 9053cb2f..ba5c3904 100644
--- a/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp
+++ b/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp
@@ -21,10 +21,10 @@
 #include "planning_debug_tools/util.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include "autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float64_multi_array_stamped.hpp"
 #include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <iostream>
diff --git a/planning/planning_debug_tools/package.xml b/planning/planning_debug_tools/package.xml
index dd9ad622..a3b1104d 100644
--- a/planning/planning_debug_tools/package.xml
+++ b/planning/planning_debug_tools/package.xml
@@ -17,6 +17,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
@@ -25,7 +26,6 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
index a9eca848..2ed65eda 100755
--- a/planning/planning_debug_tools/scripts/closest_velocity_checker.py
+++ b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
@@ -18,6 +18,8 @@
 
 from autoware_adapi_v1_msgs.msg import OperationModeState
 from autoware_control_msgs.msg import Control as AckermannControlCommand
+from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped
+from autoware_internal_debug_msgs.msg import Float32Stamped
 from autoware_planning_msgs.msg import Path
 from autoware_planning_msgs.msg import Trajectory
 from autoware_vehicle_msgs.msg import VelocityReport
@@ -29,8 +31,6 @@
 from tf2_ros import LookupException
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener
-from tier4_debug_msgs.msg import Float32MultiArrayStamped
-from tier4_debug_msgs.msg import Float32Stamped
 from tier4_planning_msgs.msg import PathWithLaneId
 from tier4_planning_msgs.msg import VelocityLimit
 
diff --git a/planning/planning_debug_tools/scripts/processing_time_checker.py b/planning/planning_debug_tools/scripts/processing_time_checker.py
index 39e94ebc..c22c6d85 100755
--- a/planning/planning_debug_tools/scripts/processing_time_checker.py
+++ b/planning/planning_debug_tools/scripts/processing_time_checker.py
@@ -20,9 +20,9 @@
 import os
 import sys
 
+from autoware_internal_debug_msgs.msg import Float64Stamped
 import rclpy
 from rclpy.node import Node
-from tier4_debug_msgs.msg import Float64Stamped
 
 
 class ProcessingTimeSubscriber(Node):
diff --git a/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp b/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
index b042293e..5d26c3a5 100644
--- a/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
+++ b/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
@@ -19,7 +19,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <iostream>
 #include <string>
@@ -33,14 +33,16 @@ struct Debugger
     rclcpp::QoS durable_qos(queue_size);
     durable_qos.transient_local();  // option for latching
 
-    pub_debug_ = rclcpp::create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
-      node, "~/debug_values/" + name, durable_qos);
+    pub_debug_ =
+      rclcpp::create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
+        node, "~/debug_values/" + name, durable_qos);
     debug_values_.data.resize(num_debug_values_, 0.0);
   }
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_;
   void publishDebugValue() { pub_debug_->publish(debug_values_); }
   static constexpr std::uint8_t num_debug_values_ = 20;
-  mutable tier4_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
+  mutable autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
 };
 
 #endif  // PARAMETER_ESTIMATOR__DEBUGGER_HPP_
diff --git a/vehicle/parameter_estimator/package.xml b/vehicle/parameter_estimator/package.xml
index 6f8023d2..d2ff997a 100644
--- a/vehicle/parameter_estimator/package.xml
+++ b/vehicle/parameter_estimator/package.xml
@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>estimator_utils</depend>
@@ -17,7 +18,6 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tier4_calibration_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
   <exec_depend>plotjuggler</exec_depend>
   <exec_depend>plotjuggler_ros</exec_depend>