diff --git a/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp b/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp
index 6a8fae3bf394c..be4893d5a49c6 100644
--- a/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp
+++ b/planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp
@@ -18,7 +18,7 @@
 #include <external_velocity_limit_selector_parameters.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
 
@@ -29,7 +29,7 @@
 namespace autoware::external_velocity_limit_selector
 {
 
-using tier4_debug_msgs::msg::StringStamped;
+using autoware_internal_debug_msgs::msg::StringStamped;
 using tier4_planning_msgs::msg::VelocityLimit;
 using tier4_planning_msgs::msg::VelocityLimitClearCommand;
 using tier4_planning_msgs::msg::VelocityLimitConstraints;
diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml
index b75a4fab72d7c..d61d1a324c910 100644
--- a/planning/autoware_external_velocity_limit_selector/package.xml
+++ b/planning/autoware_external_velocity_limit_selector/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>generate_parameter_library</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/type_alias.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/type_alias.hpp
index 5b16d4d5ba5c6..cf545d1a967e7 100644
--- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/type_alias.hpp
+++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/type_alias.hpp
@@ -15,6 +15,7 @@
 #ifndef AUTOWARE__PATH_OPTIMIZER__TYPE_ALIAS_HPP_
 #define AUTOWARE__PATH_OPTIMIZER__TYPE_ALIAS_HPP_
 
+#include "autoware_internal_debug_msgs/msg/string_stamped.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/path_point.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
@@ -25,7 +26,6 @@
 #include "nav_msgs/msg/odometry.hpp"
 #include "std_msgs/msg/header.hpp"
 #include "tier4_debug_msgs/msg/float64_stamped.hpp"
-#include "tier4_debug_msgs/msg/string_stamped.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
 namespace autoware::path_optimizer
@@ -43,8 +43,8 @@ using nav_msgs::msg::Odometry;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 // debug
+using autoware_internal_debug_msgs::msg::StringStamped;
 using tier4_debug_msgs::msg::Float64Stamped;
-using tier4_debug_msgs::msg::StringStamped;
 }  // namespace autoware::path_optimizer
 
 #endif  // AUTOWARE__PATH_OPTIMIZER__TYPE_ALIAS_HPP_
diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml
index eb02db8ea9586..21ce487af6f4c 100644
--- a/planning/autoware_path_optimizer/package.xml
+++ b/planning/autoware_path_optimizer/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/type_alias.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/type_alias.hpp
index 5ec4b21955892..5f79689d20875 100644
--- a/planning/autoware_path_smoother/include/autoware/path_smoother/type_alias.hpp
+++ b/planning/autoware_path_smoother/include/autoware/path_smoother/type_alias.hpp
@@ -15,6 +15,7 @@
 #ifndef AUTOWARE__PATH_SMOOTHER__TYPE_ALIAS_HPP_
 #define AUTOWARE__PATH_SMOOTHER__TYPE_ALIAS_HPP_
 
+#include "autoware_internal_debug_msgs/msg/string_stamped.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/path_point.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
@@ -23,7 +24,6 @@
 #include "nav_msgs/msg/odometry.hpp"
 #include "std_msgs/msg/header.hpp"
 #include "tier4_debug_msgs/msg/float64_stamped.hpp"
-#include "tier4_debug_msgs/msg/string_stamped.hpp"
 
 namespace autoware::path_smoother
 {
@@ -37,8 +37,8 @@ using autoware_planning_msgs::msg::TrajectoryPoint;
 // navigation
 using nav_msgs::msg::Odometry;
 // debug
+using autoware_internal_debug_msgs::msg::StringStamped;
 using tier4_debug_msgs::msg::Float64Stamped;
-using tier4_debug_msgs::msg::StringStamped;
 }  // namespace autoware::path_smoother
 
 #endif  // AUTOWARE__PATH_SMOOTHER__TYPE_ALIAS_HPP_
diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml
index 3fa7b9fa482ed..58bd970db541e 100644
--- a/planning/autoware_path_smoother/package.xml
+++ b/planning/autoware_path_smoother/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
index 3bed1e6a88bd8..8d5c7c1694100 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
@@ -45,7 +45,7 @@ using SceneModulePtr = std::shared_ptr<SceneModuleInterface>;
 using SceneModuleManagerPtr = std::shared_ptr<SceneModuleManagerInterface>;
 using DebugPublisher = autoware::universe_utils::DebugPublisher;
 using DebugDoubleMsg = tier4_debug_msgs::msg::Float64Stamped;
-using DebugStringMsg = tier4_debug_msgs::msg::StringStamped;
+using DebugStringMsg = autoware_internal_debug_msgs::msg::StringStamped;
 
 struct SceneModuleUpdateInfo
 {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
index 699f80ec8356e..752de3be11af4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -23,6 +23,7 @@
 
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_grid_map_utils</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index 1bea0626b0b2f..07b2f1deff0c7 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -153,11 +153,11 @@ StopFactor createStopFactor(
   return stop_factor;
 }
 
-tier4_debug_msgs::msg::StringStamped createStringStampedMessage(
+autoware_internal_debug_msgs::msg::StringStamped createStringStampedMessage(
   const rclcpp::Time & now, const int64_t module_id_,
   const std::vector<std::tuple<std::string, CollisionPoint, CollisionState>> & collision_points)
 {
-  tier4_debug_msgs::msg::StringStamped msg;
+  autoware_internal_debug_msgs::msg::StringStamped msg;
   msg.stamp = now;
   for (const auto & collision_point : collision_points) {
     std::stringstream ss;
@@ -199,8 +199,8 @@ CrosswalkModule::CrosswalkModule(
 
   road_ = lanelet_map_ptr->laneletLayer.get(lane_id);
 
-  collision_info_pub_ =
-    node.create_publisher<tier4_debug_msgs::msg::StringStamped>("~/debug/collision_info", 1);
+  collision_info_pub_ = node.create_publisher<autoware_internal_debug_msgs::msg::StringStamped>(
+    "~/debug/collision_info", 1);
 }
 
 bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
index 9b771c0d503a4..b3fbc2f6cfaba 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -23,9 +23,9 @@
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
 
 #include <boost/assert.hpp>
 #include <boost/assign/list_of.hpp>
@@ -456,7 +456,8 @@ class CrosswalkModule : public SceneModuleInterface
 
   const int64_t module_id_;
 
-  rclcpp::Publisher<tier4_debug_msgs::msg::StringStamped>::SharedPtr collision_info_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::StringStamped>::SharedPtr
+    collision_info_pub_;
 
   lanelet::ConstLanelet crosswalk_;
 
diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/type_alias.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/type_alias.hpp
index 95d833c4df47d..7398e28d18b28 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/type_alias.hpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/type_alias.hpp
@@ -15,6 +15,7 @@
 #ifndef AUTOWARE_PATH_SAMPLER__TYPE_ALIAS_HPP_
 #define AUTOWARE_PATH_SAMPLER__TYPE_ALIAS_HPP_
 
+#include "autoware_internal_debug_msgs/msg/string_stamped.hpp"
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/path_point.hpp"
@@ -25,7 +26,6 @@
 #include "geometry_msgs/msg/twist.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "std_msgs/msg/header.hpp"
-#include "tier4_debug_msgs/msg/string_stamped.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
 namespace autoware::path_sampler
@@ -45,7 +45,7 @@ using nav_msgs::msg::Odometry;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 // debug
-using tier4_debug_msgs::msg::StringStamped;
+using autoware_internal_debug_msgs::msg::StringStamped;
 }  // namespace autoware::path_sampler
 
 #endif  // AUTOWARE_PATH_SAMPLER__TYPE_ALIAS_HPP_
diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml
index 142eafdfa4bfe..a4119b03a2dd7 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/package.xml
+++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml
@@ -15,6 +15,7 @@
 
   <depend>autoware_bezier_sampler</depend>
   <depend>autoware_frenet_planner</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>