diff --git a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
index 2efd1a595b2f4..be1a8d4ace611 100644
--- a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
+++ b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
@@ -1,6 +1,5 @@
 <launch>
   <!-- AD API options -->
-  <arg name="launch_deprecated_api" default="false"/>
   <arg name="launch_default_ad_api" default="true"/>
   <arg name="launch_rviz_adaptors" default="true"/>
 
@@ -9,25 +8,12 @@
   <arg name="rosbridge_respawn" default="true"/>
   <arg name="rosbridge_max_message_size" default="10000000"/>
 
-  <!-- Deprecated API -->
-  <group if="$(var launch_deprecated_api)">
-    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/deprecated_api.launch.xml"/>
-  </group>
-
   <!-- AD API -->
   <group>
     <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" if="$(var launch_default_ad_api)"/>
     <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
   </group>
 
-  <!-- RTC controller -->
-  <group>
-    <push-ros-namespace namespace="autoware_api/external/rtc_controller"/>
-    <node_container pkg="rclcpp_components" exec="component_container_mt" name="container" namespace="" ros_args="--log-level autoware_api.external.rtc_controller.container:=warn">
-      <composable_node pkg="autoware_iv_external_api_adaptor" plugin="external_api::RTCController" name="node"/>
-    </node_container>
-  </group>
-
   <!-- rosbridge -->
   <group if="$(var rosbridge_enabled)">
     <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
diff --git a/launch/tier4_autoware_api_launch/launch/deprecated_api.launch.xml b/launch/tier4_autoware_api_launch/launch/deprecated_api.launch.xml
deleted file mode 100644
index 0856b9ca073cd..0000000000000
--- a/launch/tier4_autoware_api_launch/launch/deprecated_api.launch.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-  <!-- awapi -->
-  <group>
-    <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml"/>
-  </group>
-
-  <!-- autoware api adaptor -->
-  <group>
-    <push-ros-namespace namespace="autoware_api"/>
-    <include file="$(find-pkg-share autoware_iv_external_api_adaptor)/launch/external_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_iv_internal_api_adaptor)/launch/internal_api_adaptor.launch.py"/>
-    <include file="$(find-pkg-share autoware_iv_internal_api_adaptor)/launch/internal_api_relay.launch.xml"/>
-  </group>
-
-  <!-- autoware api utils -->
-  <group>
-    <push-ros-namespace namespace="autoware_api/utils"/>
-    <include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml"/>
-  </group>
-</launch>
diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml
index c55f1c8038e83..81b2d0b46eaa3 100644
--- a/launch/tier4_autoware_api_launch/package.xml
+++ b/launch/tier4_autoware_api_launch/package.xml
@@ -12,13 +12,8 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>ad_api_adaptors</exec_depend>
-  <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
-  <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
-  <exec_depend>awapi_awiv_adapter</exec_depend>
   <exec_depend>default_ad_api</exec_depend>
-  <exec_depend>path_distance_calculator</exec_depend>
   <exec_depend>rosbridge_server</exec_depend>
-  <exec_depend>topic_tools</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>