diff --git a/ros2cli_test_interfaces/package.xml b/ros2cli_test_interfaces/package.xml
index 0a860ff65..20a47622d 100644
--- a/ros2cli_test_interfaces/package.xml
+++ b/ros2cli_test_interfaces/package.xml
@@ -18,8 +18,6 @@
 
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <depend>action_msgs</depend>
-
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>