diff --git a/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp b/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp
index 16cb6471deb2c..f1ad63738df7c 100644
--- a/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp
+++ b/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp
@@ -42,11 +42,11 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 
 #include "autoware_control_msgs/msg/lateral.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 "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <boost/optional.hpp>  // To be replaced by std::optional in C++17
 
@@ -115,7 +115,8 @@ class PurePursuitLateralController : public LateralControllerBase
 
   // Debug Publisher
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_marker_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_values_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_values_;
   // Predicted Trajectory publish
   rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr pub_predicted_trajectory_;
 
diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml
index 06500ddb32af0..5b61cc10af1f5 100644
--- a/control/autoware_pure_pursuit/package.xml
+++ b/control/autoware_pure_pursuit/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_trajectory_follower_base</depend>
@@ -32,7 +33,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
index f3a7bc3c1333d..d173cfe64d3e8 100644
--- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
+++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
@@ -92,8 +92,9 @@ PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node)
   // Debug Publishers
   pub_debug_marker_ =
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/markers", 0);
-  pub_debug_values_ = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
-    "~/debug/ld_outputs", rclcpp::QoS{1});
+  pub_debug_values_ =
+    node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
+      "~/debug/ld_outputs", rclcpp::QoS{1});
 
   // Publish predicted trajectory
   pub_predicted_trajectory_ = node.create_publisher<autoware_planning_msgs::msg::Trajectory>(
@@ -118,7 +119,7 @@ double PurePursuitLateralController::calcLookaheadDistance(
     std::clamp(vel_ld + curvature_ld + lateral_error_ld, min_ld, param_.max_lookahead_distance);
 
   auto pubDebugValues = [&]() {
-    tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
+    autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
     debug_msg.data.resize(TYPE::SIZE);
     debug_msg.data.at(TYPE::VEL_LD) = static_cast<float>(vel_ld);
     debug_msg.data.at(TYPE::CURVATURE_LD) = static_cast<float>(curvature_ld);