diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml
index 81e24a8cb30..30e1dda75d6 100644
--- a/nav2_behavior_tree/package.xml
+++ b/nav2_behavior_tree/package.xml
@@ -36,7 +36,6 @@
   <exec_depend>rclcpp_action</exec_depend>
   <exec_depend>rclcpp_lifecycle</exec_depend>
   <exec_depend>std_msgs</exec_depend>
-  <exec_depend>behaviortree_cpp_v3</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml
index e3287b118db..6f86318a79a 100644
--- a/nav2_bt_navigator/package.xml
+++ b/nav2_bt_navigator/package.xml
@@ -24,7 +24,6 @@
   <build_depend>nav2_util</build_depend>
   <build_depend>nav2_core</build_depend>
 
-  <exec_depend>behaviortree_cpp_v3</exec_depend>
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>rclcpp_action</exec_depend>
   <exec_depend>rclcpp_lifecycle</exec_depend>