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 a96587c4465d6..a5f9badd9f4f7 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
@@ -31,10 +31,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/header.hpp>
-#include <tier4_api_msgs/msg/crosswalk_status.hpp>
-#include <tier4_api_msgs/msg/intersection_status.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_v2x_msgs/msg/virtual_traffic_light_state_array.hpp>
 
 #include <lanelet2_core/Forward.h>
 #include <pcl/point_cloud.h>
@@ -76,7 +73,6 @@ struct PlannerData
   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;
-  tier4_v2x_msgs::msg::VirtualTrafficLightStateArray virtual_traffic_light_states;
 
   // velocity smoother
   std::shared_ptr<autoware::velocity_smoother::SmootherBase> velocity_smoother_;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md
index 494446828e134..01062f81e77a2 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md
@@ -17,17 +17,16 @@ This means that to stop before a wall, a stop point is inserted in the trajector
 
 ## Input topics
 
-| Name                                   | Type                                                  | Description                   |
-| -------------------------------------- | ----------------------------------------------------- | ----------------------------- |
-| `~/input/trajectory`                   | autoware_planning_msgs::msg::Trajectory               | input trajectory              |
-| `~/input/vector_map`                   | autoware_map_msgs::msg::LaneletMapBin                 | vector map                    |
-| `~/input/vehicle_odometry`             | nav_msgs::msg::Odometry                               | vehicle position and velocity |
-| `~/input/accel`                        | geometry_msgs::msg::AccelWithCovarianceStamped        | vehicle acceleration          |
-| `~/input/dynamic_objects`              | autoware_perception_msgs::msg::PredictedObjects       | dynamic objects               |
-| `~/input/no_ground_pointcloud`         | sensor_msgs::msg::PointCloud2                         | obstacle pointcloud           |
-| `~/input/traffic_signals`              | autoware_perception_msgs::msg::TrafficLightGroupArray | traffic light states          |
-| `~/input/virtual_traffic_light_states` | tier4_v2x_msgs::msg::VirtualTrafficLightStateArray    | virtual traffic light states  |
-| `~/input/occupancy_grid`               | nav_msgs::msg::OccupancyGrid                          | occupancy grid                |
+| Name                           | Type                                                  | Description                   |
+| ------------------------------ | ----------------------------------------------------- | ----------------------------- |
+| `~/input/trajectory`           | autoware_planning_msgs::msg::Trajectory               | input trajectory              |
+| `~/input/vector_map`           | autoware_map_msgs::msg::LaneletMapBin                 | vector map                    |
+| `~/input/vehicle_odometry`     | nav_msgs::msg::Odometry                               | vehicle position and velocity |
+| `~/input/accel`                | geometry_msgs::msg::AccelWithCovarianceStamped        | vehicle acceleration          |
+| `~/input/dynamic_objects`      | autoware_perception_msgs::msg::PredictedObjects       | dynamic objects               |
+| `~/input/no_ground_pointcloud` | sensor_msgs::msg::PointCloud2                         | obstacle pointcloud           |
+| `~/input/traffic_signals`      | autoware_perception_msgs::msg::TrafficLightGroupArray | traffic light states          |
+| `~/input/occupancy_grid`       | nav_msgs::msg::OccupancyGrid                          | occupancy grid                |
 
 ## Output topics
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/launch/motion_velocity_planner.launch.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/launch/motion_velocity_planner.launch.xml
index 3732d86ef380a..963394323caeb 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/launch/motion_velocity_planner.launch.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/launch/motion_velocity_planner.launch.xml
@@ -24,7 +24,6 @@
     <remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
     <remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
     <remap from="~/input/traffic_signals" to="/perception/traffic_light_recognition/traffic_signals"/>
-    <remap from="~/input/virtual_traffic_light_states" to="/perception/virtual_traffic_light_states"/>
     <remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>
     <remap from="~/output/trajectory" to="trajectory"/>
     <!-- params -->
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 96865fec1c197..586d27f2c9614 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
@@ -185,9 +185,6 @@ bool MotionVelocityPlannerNode::update_planner_data(
   // optional data
   const auto traffic_signals_ptr = sub_traffic_signals_.takeData();
   if (traffic_signals_ptr) process_traffic_signals(traffic_signals_ptr);
-  const auto virtual_traffic_light_states_ptr = sub_virtual_traffic_light_states_.takeData();
-  if (virtual_traffic_light_states_ptr)
-    planner_data_.virtual_traffic_light_states = *virtual_traffic_light_states_ptr;
   processing_times["update_planner_data.traffic_lights"] = sw.toc(true);
 
   return is_ready;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp
index 757be518e018a..6e33b89e026c3 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp
@@ -80,9 +80,6 @@ class MotionVelocityPlannerNode : public rclcpp::Node
   autoware::universe_utils::InterProcessPollingSubscriber<
     autoware_perception_msgs::msg::TrafficLightGroupArray>
     sub_traffic_signals_{this, "~/input/traffic_signals"};
-  autoware::universe_utils::InterProcessPollingSubscriber<
-    tier4_v2x_msgs::msg::VirtualTrafficLightStateArray>
-    sub_virtual_traffic_light_states_{this, "~/input/virtual_traffic_light_states"};
   rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr sub_lanelet_map_;
 
   void on_trajectory(
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp
index 44ff7820c1566..89a732ead861b 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp
@@ -101,8 +101,6 @@ void publishMandatoryTopics(
   test_manager->publishMap(test_target_node, "motion_velocity_planner_node/input/vector_map");
   test_manager->publishTrafficSignals(
     test_target_node, "motion_velocity_planner_node/input/traffic_signals");
-  test_manager->publishVirtualTrafficLightState(
-    test_target_node, "motion_velocity_planner_node/input/virtual_traffic_light_states");
   test_manager->publishOccupancyGrid(
     test_target_node, "motion_velocity_planner_node/input/occupancy_grid");
 }