diff --git a/autoware_utils/README.md b/autoware_utils/README.md
index a97fa62..d4c14cc 100644
--- a/autoware_utils/README.md
+++ b/autoware_utils/README.md
@@ -43,7 +43,6 @@ The ROS module provides utilities for working with ROS messages and nodes:
 - **`published_time_publisher.hpp`**: Tracks and publishes the time when messages are published.
 - **`self_pose_listener.hpp`**: Listens to the self-pose of the vehicle.
 - **`update_param.hpp`**: Updates parameters from remote nodes.
-- **`uuid_helper.hpp`**: Utilities for generating and managing UUIDs.
 - **`wait_for_param.hpp`**: Waits for parameters from remote nodes.
 - **`debug_traits.hpp`**: Traits for identifying debug message types.
 
diff --git a/autoware_utils/include/autoware_utils/ros/uuid_helper.hpp b/autoware_utils/include/autoware_utils/ros/uuid_helper.hpp
index 8e27b4c..d25ef09 100644
--- a/autoware_utils/include/autoware_utils/ros/uuid_helper.hpp
+++ b/autoware_utils/include/autoware_utils/ros/uuid_helper.hpp
@@ -1,4 +1,4 @@
-// Copyright 2022 Tier IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,58 +15,14 @@
 #ifndef AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
 #define AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
 
-#include <unique_identifier_msgs/msg/uuid.hpp>
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <boost/uuid/uuid.hpp>
+#pragma message("#include <autoware_utils/ros/uuid_helper.hpp> is deprecated. Use #include <autoware_utils_uuid/uuid_helper.hpp> instead.")
+#include <autoware_utils_uuid/uuid_helper.hpp>
+namespace autoware_utils { using namespace autoware_utils_uuid; }
 
-#include <algorithm>
-#include <random>
-#include <string>
-
-namespace autoware_utils
-{
-inline unique_identifier_msgs::msg::UUID generate_uuid()
-{
-  // Generate random number
-  unique_identifier_msgs::msg::UUID uuid;
-  std::mt19937 gen(std::random_device{}());
-  std::independent_bits_engine<std::mt19937, 8, uint8_t> bit_eng(gen);
-  std::generate(uuid.uuid.begin(), uuid.uuid.end(), bit_eng);
-
-  return uuid;
-}
-inline unique_identifier_msgs::msg::UUID generate_default_uuid()
-{
-  // Generate UUID with all zeros
-  unique_identifier_msgs::msg::UUID default_uuid;
-  // Use std::generate to fill the UUID with zeros
-  std::generate(default_uuid.uuid.begin(), default_uuid.uuid.end(), []() { return 0; });
-
-  return default_uuid;
-}
-inline std::string to_hex_string(const unique_identifier_msgs::msg::UUID & id)
-{
-  std::stringstream ss;
-  for (auto i = 0; i < 16; ++i) {
-    ss << std::hex << std::setfill('0') << std::setw(2) << +id.uuid[i];
-  }
-  return ss.str();
-}
-
-inline boost::uuids::uuid to_boost_uuid(const unique_identifier_msgs::msg::UUID & id)
-{
-  boost::uuids::uuid boost_uuid{};
-  std::copy(id.uuid.begin(), id.uuid.end(), boost_uuid.begin());
-  return boost_uuid;
-}
-
-inline unique_identifier_msgs::msg::UUID to_uuid_msg(const boost::uuids::uuid & id)
-{
-  unique_identifier_msgs::msg::UUID ros_uuid{};
-  std::copy(id.begin(), id.end(), ros_uuid.uuid.begin());
-  return ros_uuid;
-}
-
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
diff --git a/autoware_utils/package.xml b/autoware_utils/package.xml
index 1e37457..c39a0c2 100644
--- a/autoware_utils/package.xml
+++ b/autoware_utils/package.xml
@@ -24,6 +24,7 @@
   <depend>autoware_utils_math</depend>
   <depend>autoware_utils_pcl</depend>
   <depend>autoware_utils_system</depend>
+  <depend>autoware_utils_uuid</depend>
   <depend>autoware_utils_visualization</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>
diff --git a/autoware_utils_uuid/CMakeLists.txt b/autoware_utils_uuid/CMakeLists.txt
new file mode 100644
index 0000000..de2306d
--- /dev/null
+++ b/autoware_utils_uuid/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_utils_uuid)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+if(BUILD_TESTING)
+  file(GLOB_RECURSE test_files test/*.cpp)
+  ament_auto_add_gtest(test_${PROJECT_NAME} ${test_files})
+endif()
+
+ament_auto_package()
diff --git a/autoware_utils_uuid/README.md b/autoware_utils_uuid/README.md
new file mode 100644
index 0000000..5e23191
--- /dev/null
+++ b/autoware_utils_uuid/README.md
@@ -0,0 +1,11 @@
+# autoware_utils_uuid
+
+## Overview
+
+The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
+This package provides essential utilities for UUID.
+It is extensively used in the Autoware project to handle common tasks such as generation and conversion of UUID.
+
+## Design
+
+- **`uuid_helper.hpp`**: Utilities for generating and managing UUIDs.
diff --git a/autoware_utils_uuid/include/autoware_utils_uuid/uuid_helper.hpp b/autoware_utils_uuid/include/autoware_utils_uuid/uuid_helper.hpp
new file mode 100644
index 0000000..2b7ec62
--- /dev/null
+++ b/autoware_utils_uuid/include/autoware_utils_uuid/uuid_helper.hpp
@@ -0,0 +1,73 @@
+// Copyright 2022 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS_UUID__UUID_HELPER_HPP_
+#define AUTOWARE_UTILS_UUID__UUID_HELPER_HPP_
+
+#include <unique_identifier_msgs/msg/uuid.hpp>
+
+#include <boost/uuid/uuid.hpp>
+
+#include <algorithm>
+#include <random>
+#include <string>
+
+namespace autoware_utils_uuid
+{
+
+inline unique_identifier_msgs::msg::UUID generate_uuid()
+{
+  // Generate random number
+  unique_identifier_msgs::msg::UUID uuid;
+  std::mt19937 gen(std::random_device{}());
+  std::independent_bits_engine<std::mt19937, 8, uint8_t> bit_eng(gen);
+  std::generate(uuid.uuid.begin(), uuid.uuid.end(), bit_eng);
+
+  return uuid;
+}
+inline unique_identifier_msgs::msg::UUID generate_default_uuid()
+{
+  // Generate UUID with all zeros
+  unique_identifier_msgs::msg::UUID default_uuid;
+  // Use std::generate to fill the UUID with zeros
+  std::generate(default_uuid.uuid.begin(), default_uuid.uuid.end(), []() { return 0; });
+
+  return default_uuid;
+}
+inline std::string to_hex_string(const unique_identifier_msgs::msg::UUID & id)
+{
+  std::stringstream ss;
+  for (auto i = 0; i < 16; ++i) {
+    ss << std::hex << std::setfill('0') << std::setw(2) << +id.uuid[i];
+  }
+  return ss.str();
+}
+
+inline boost::uuids::uuid to_boost_uuid(const unique_identifier_msgs::msg::UUID & id)
+{
+  boost::uuids::uuid boost_uuid{};
+  std::copy(id.uuid.begin(), id.uuid.end(), boost_uuid.begin());
+  return boost_uuid;
+}
+
+inline unique_identifier_msgs::msg::UUID to_uuid_msg(const boost::uuids::uuid & id)
+{
+  unique_identifier_msgs::msg::UUID ros_uuid{};
+  std::copy(id.begin(), id.end(), ros_uuid.uuid.begin());
+  return ros_uuid;
+}
+
+}  // namespace autoware_utils_uuid
+
+#endif  // AUTOWARE_UTILS_UUID__UUID_HELPER_HPP_
diff --git a/autoware_utils_uuid/package.xml b/autoware_utils_uuid/package.xml
new file mode 100644
index 0000000..f1fa708
--- /dev/null
+++ b/autoware_utils_uuid/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_utils_uuid</name>
+  <version>1.1.0</version>
+  <description>The autoware_utils_uuid package</description>
+  <maintainer email="egon.kang@autocore.ai">Jian Kang</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="esteve.fernandez@tier4.jp">Esteve Fernandez</maintainer>
+  <maintainer email="yutaka.kondo@tier4.jp">Yutaka Kondo</maintainer>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>libboost-system-dev</depend>
+  <depend>unique_identifier_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/autoware_utils/test/src/ros/test_uuid_helper.cpp b/autoware_utils_uuid/test/cases/uuid_helper.cpp
similarity index 78%
rename from autoware_utils/test/src/ros/test_uuid_helper.cpp
rename to autoware_utils_uuid/test/cases/uuid_helper.cpp
index f8f7416..fc529e2 100644
--- a/autoware_utils/test/src/ros/test_uuid_helper.cpp
+++ b/autoware_utils_uuid/test/cases/uuid_helper.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_utils/ros/uuid_helper.hpp"
+#include "autoware_utils_uuid/uuid_helper.hpp"
 
 #include <boost/uuid/uuid_generators.hpp>
 
@@ -24,18 +24,18 @@ TEST(UUIDHelperTest, generate_uuid)
 {
   // Generate two UUIDs and ensure they are all different
 
-  unique_identifier_msgs::msg::UUID uuid1 = autoware_utils::generate_uuid();
-  unique_identifier_msgs::msg::UUID uuid2 = autoware_utils::generate_uuid();
+  unique_identifier_msgs::msg::UUID uuid1 = autoware_utils_uuid::generate_uuid();
+  unique_identifier_msgs::msg::UUID uuid2 = autoware_utils_uuid::generate_uuid();
 
   EXPECT_FALSE(uuid1 == uuid2) << "Duplicate UUID generated: "
-                               << autoware_utils::to_hex_string(uuid2);
+                               << autoware_utils_uuid::to_hex_string(uuid2);
 }
 
 TEST(UUIDHelperTest, generate_default_uuid)
 {
   // Generate two UUIDs and ensure they are all different
 
-  unique_identifier_msgs::msg::UUID default_uuid = autoware_utils::generate_default_uuid();
+  unique_identifier_msgs::msg::UUID default_uuid = autoware_utils_uuid::generate_default_uuid();
   unique_identifier_msgs::msg::UUID zero_uuid;
   std::fill(zero_uuid.uuid.begin(), zero_uuid.uuid.end(), 0x00);
 
@@ -48,7 +48,7 @@ TEST(UUIDHelperTest, to_hex_string)
   // Populate the UUID with some values
   std::fill(uuid.uuid.begin(), uuid.uuid.end(), 0x42);
 
-  std::string hex_string = autoware_utils::to_hex_string(uuid);
+  std::string hex_string = autoware_utils_uuid::to_hex_string(uuid);
 
   // Check if the generated hex string is correct
   EXPECT_EQ(hex_string, "42424242424242424242424242424242");
@@ -64,14 +64,14 @@ TEST(UUIDHelperTest, to_boost_uuid)
   std::fill(boost_uuid.begin(), boost_uuid.end(), 0x42);
 
   // Check if the conversion from ROS UUID to Boost UUID is correct
-  EXPECT_TRUE(boost_uuid == autoware_utils::to_boost_uuid(uuid));
+  EXPECT_TRUE(boost_uuid == autoware_utils_uuid::to_boost_uuid(uuid));
 }
 
 TEST(UUIDHelperTest, to_uuid_msg)
 {
   boost::uuids::random_generator generator;
   boost::uuids::uuid boost_uuid = generator();
-  unique_identifier_msgs::msg::UUID ros_uuid = autoware_utils::to_uuid_msg(boost_uuid);
+  unique_identifier_msgs::msg::UUID ros_uuid = autoware_utils_uuid::to_uuid_msg(boost_uuid);
 
   // Check if the conversion from Boost UUID to ROS UUID is correct
   EXPECT_TRUE(std::equal(boost_uuid.begin(), boost_uuid.end(), ros_uuid.uuid.begin()));
diff --git a/autoware_utils_uuid/test/main.cpp b/autoware_utils_uuid/test/main.cpp
new file mode 100644
index 0000000..7c283b2
--- /dev/null
+++ b/autoware_utils_uuid/test/main.cpp
@@ -0,0 +1,21 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}