diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
index c27447c1cb..64705de36f 100644
--- a/rcl/src/rcl/init.c
+++ b/rcl/src/rcl/init.c
@@ -24,7 +24,6 @@ extern "C"
 #include "rcutils/strdup.h"
 
 #include "rmw/error_handling.h"
-#include "rmw/security.h"
 
 #include "tracetools/tracetools.h"
 
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 68a92f87f7..5fa895c38b 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -47,7 +47,6 @@ extern "C"
 #include "rmw/error_handling.h"
 #include "rmw/security_options.h"
 #include "rmw/rmw.h"
-#include "rmw/security.h"
 #include "rmw/validate_namespace.h"
 #include "rmw/validate_node_name.h"
 #include "tracetools/tracetools.h"
diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index 6e73b7c86b..4fb5782048 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -23,7 +23,6 @@
 #include "rcutils/get_env.h"
 #include "rcutils/strdup.h"
 
-#include "rmw/security.h"
 #include "rmw/security_options.h"
 
 rcl_ret_t
diff --git a/rcl/test/rcl/test_security.cpp b/rcl/test/rcl/test_security.cpp
index 2878c5445c..58b9607831 100644
--- a/rcl/test/rcl/test_security.cpp
+++ b/rcl/test/rcl/test_security.cpp
@@ -23,7 +23,6 @@
 #include "rcutils/filesystem.h"
 
 #include "rmw/error_handling.h"
-#include "rmw/security.h"
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"