diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 1e463055b6..437c5f86ad 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -218,7 +218,6 @@ set(msg_files
 	VehicleTrajectoryBezier.msg
 	VehicleTrajectoryWaypoint.msg
 	VtolVehicleStatus.msg
-	WheelEncoders.msg
 	Wind.msg
 	YawEstimatorStatus.msg
 )
diff --git a/msg/WheelEncoders.msg b/msg/WheelEncoders.msg
deleted file mode 100644
index 1654902cdf..0000000000
--- a/msg/WheelEncoders.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-uint64 timestamp			# time since system start (microseconds)
-
-int64 encoder_position   # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
-int32 speed              # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
-uint32 pulses_per_rev    # Number of pulses per revolution for each wheel