diff --git a/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp b/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp
index 9053cb2f..0c8c6fb3 100644
--- a/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp
+++ b/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp
@@ -24,7 +24,7 @@
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float64_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp"
 #include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <iostream>
diff --git a/planning/planning_debug_tools/package.xml b/planning/planning_debug_tools/package.xml
index dd9ad622..bb5f8417 100644
--- a/planning/planning_debug_tools/package.xml
+++ b/planning/planning_debug_tools/package.xml
@@ -25,7 +25,7 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_debug_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
index a9eca848..f7954cbb 100755
--- a/planning/planning_debug_tools/scripts/closest_velocity_checker.py
+++ b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
@@ -29,8 +29,8 @@
 from tf2_ros import LookupException
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener
-from tier4_debug_msgs.msg import Float32MultiArrayStamped
-from tier4_debug_msgs.msg import Float32Stamped
+from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped
+from autoware_internal_debug_msgs.msg import Float32Stamped
 from tier4_planning_msgs.msg import PathWithLaneId
 from tier4_planning_msgs.msg import VelocityLimit
 
diff --git a/planning/planning_debug_tools/scripts/processing_time_checker.py b/planning/planning_debug_tools/scripts/processing_time_checker.py
index 39e94ebc..b6b0829e 100755
--- a/planning/planning_debug_tools/scripts/processing_time_checker.py
+++ b/planning/planning_debug_tools/scripts/processing_time_checker.py
@@ -22,7 +22,7 @@
 
 import rclpy
 from rclpy.node import Node
-from tier4_debug_msgs.msg import Float64Stamped
+from autoware_internal_debug_msgs.msg import Float64Stamped
 
 
 class ProcessingTimeSubscriber(Node):