diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp
index 1d03d1b339af6..db5fa09b5eeee 100644
--- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp
+++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp
@@ -34,11 +34,11 @@
 
 #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
 #include "autoware_control_msgs/msg/longitudinal.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "visualization_msgs/msg/marker.hpp"
 
 #include <deque>
@@ -98,8 +98,10 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
   rclcpp::Clock::SharedPtr clock_;
   rclcpp::Logger logger_;
   // ros variables
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_slope;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_debug;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    m_pub_slope;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    m_pub_debug;
   rclcpp::Publisher<MarkerArray>::SharedPtr m_pub_virtual_wall_marker;
 
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr m_set_param_res;
diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml
index 67e95a9d4c0ac..127ce8e76d69d 100644
--- a/control/autoware_pid_longitudinal_controller/package.xml
+++ b/control/autoware_pid_longitudinal_controller/package.xml
@@ -21,6 +21,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
@@ -37,7 +38,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
index ec95ce656fa6f..c87e936de3e40 100644
--- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -214,9 +214,9 @@ PidLongitudinalController::PidLongitudinalController(
       : node.declare_parameter<double>("ego_nearest_yaw_threshold");  // [rad]
 
   // subscriber, publisher
-  m_pub_slope = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  m_pub_slope = node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/output/slope_angle", rclcpp::QoS{1});
-  m_pub_debug = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  m_pub_debug = node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/output/longitudinal_diagnostic", rclcpp::QoS{1});
   m_pub_virtual_wall_marker = node.create_publisher<MarkerArray>("~/virtual_wall", 1);
 
@@ -931,7 +931,7 @@ void PidLongitudinalController::publishDebugData(
   m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_PUBLISHED, ctrl_cmd.acc);
 
   // publish debug values
-  tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
+  autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
   debug_msg.stamp = clock_->now();
   for (const auto & v : m_debug_values.getValues()) {
     debug_msg.data.push_back(static_cast<decltype(debug_msg.data)::value_type>(v));
@@ -939,7 +939,7 @@ void PidLongitudinalController::publishDebugData(
   m_pub_debug->publish(debug_msg);
 
   // slope angle
-  tier4_debug_msgs::msg::Float32MultiArrayStamped slope_msg{};
+  autoware_internal_debug_msgs::msg::Float32MultiArrayStamped slope_msg{};
   slope_msg.stamp = clock_->now();
   slope_msg.data.push_back(
     static_cast<decltype(slope_msg.data)::value_type>(control_data.slope_angle));