diff --git a/common/motion_utils/src/trajectory/tmp_conversion.cpp b/common/motion_utils/src/trajectory/tmp_conversion.cpp
index 5c907a5926046..18705637a8387 100644
--- a/common/motion_utils/src/trajectory/tmp_conversion.cpp
+++ b/common/motion_utils/src/trajectory/tmp_conversion.cpp
@@ -36,12 +36,7 @@ autoware_auto_planning_msgs::msg::Trajectory convertToTrajectory(
   const std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> & trajectory)
 {
   autoware_auto_planning_msgs::msg::Trajectory output{};
-  for (const auto & pt : trajectory) {
-    output.points.push_back(pt);
-    if (output.points.size() >= output.CAPACITY) {
-      break;
-    }
-  }
+  for (const auto & pt : trajectory) output.points.push_back(pt);
   return output;
 }
 
diff --git a/common/motion_utils/test/src/trajectory/test_trajectory.cpp b/common/motion_utils/test/src/trajectory/test_trajectory.cpp
index 1786586ec39a8..22567b569d0ad 100644
--- a/common/motion_utils/test/src/trajectory/test_trajectory.cpp
+++ b/common/motion_utils/test/src/trajectory/test_trajectory.cpp
@@ -803,17 +803,6 @@ TEST(trajectory, convertToTrajectory)
     const auto traj = convertToTrajectory(traj_input);
     EXPECT_EQ(traj.points.size(), traj_input.size());
   }
-
-  // Clipping check
-  {
-    const auto traj_input = generateTestTrajectoryPointArray(10000, 1.0);
-    const auto traj = convertToTrajectory(traj_input);
-    EXPECT_EQ(traj.points.size(), traj.CAPACITY);
-    // Value check
-    for (size_t i = 0; i < traj.points.size(); ++i) {
-      EXPECT_EQ(traj.points.at(i), traj_input.at(i));
-    }
-  }
 }
 
 TEST(trajectory, convertToTrajectoryPointArray)