diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 569e810aea..3f44e466f2 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -106,7 +106,6 @@ set(msg_files
 	telemetry_status.msg
 	test_motor.msg
 	timesync_status.msg
-	trajectory_bezier.msg
 	trajectory_waypoint.msg
 	transponder_report.msg
 	tune_control.msg
diff --git a/msg/trajectory_bezier.msg b/msg/trajectory_bezier.msg
deleted file mode 100644
index fc647f91a4..0000000000
--- a/msg/trajectory_bezier.msg
+++ /dev/null
@@ -1,26 +0,0 @@
-# Bezier Trajectory description. See also Mavlink TRAJECTORY msg
-
-uint8 POINT_0 = 0
-uint8 POINT_1 = 1
-uint8 POINT_2 = 2
-uint8 POINT_3 = 3
-uint8 POINT_4 = 4
-
-uint8 X = 0
-uint8 Y = 1
-uint8 Z = 2
-uint8 TIME_HORIZON = 3
-uint8 YAW = 4
-
-uint8 MAV_TRAJECTORY_REPRESENTATION_BEZIER = 1
-
-uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
-
-float32[6] point_0    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-float32[6] point_1    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-float32[6] point_2    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-float32[6] point_3    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-float32[6] point_4    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-bool[5] point_valid   # States if respective point is valid
-
-# TOPICS trajectory_bezier trajectory_bezier_desired
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index afdf449361..c96cb8317b 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -138,7 +138,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_manual_pub(nullptr),
 	_obstacle_distance_pub(nullptr),
 	_trajectory_waypoint_pub(nullptr),
-	_trajectory_bezier_pub(nullptr),
 	_land_detector_pub(nullptr),
 	_follow_target_pub(nullptr),
 	_landing_target_pose_pub(nullptr),
@@ -1706,28 +1705,6 @@ MavlinkReceiver::handle_message_trajectory(mavlink_message_t *msg)
 		} else {
 			orb_publish(ORB_ID(vehicle_trajectory_waypoint), _trajectory_waypoint_pub, &trajectory_waypoint);
 		}
-
-	} else if (trajectory.type == trajectory_bezier_s::MAV_TRAJECTORY_REPRESENTATION_BEZIER) {
-
-		struct trajectory_bezier_s trajectory_bezier = {};
-
-		trajectory_bezier.timestamp = hrt_absolute_time();
-		trajectory_bezier.type = trajectory.type;
-
-		memcpy(trajectory_bezier.point_0, trajectory.point_1, sizeof(trajectory_bezier.point_0));
-		memcpy(trajectory_bezier.point_1, trajectory.point_2, sizeof(trajectory_bezier.point_1));
-		memcpy(trajectory_bezier.point_2, trajectory.point_3, sizeof(trajectory_bezier.point_2));
-		memcpy(trajectory_bezier.point_3, trajectory.point_4, sizeof(trajectory_bezier.point_3));
-		memcpy(trajectory_bezier.point_4, trajectory.point_5, sizeof(trajectory_bezier.point_4));
-
-		memcpy(trajectory_bezier.point_valid, trajectory.point_valid, sizeof(trajectory_bezier.point_valid));
-
-		if (_trajectory_bezier_pub == nullptr) {
-			_trajectory_bezier_pub = orb_advertise(ORB_ID(trajectory_bezier), &trajectory_bezier);
-
-		} else {
-			orb_publish(ORB_ID(trajectory_bezier), _trajectory_bezier_pub, &trajectory_bezier);
-		}
 	}
 }
 
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 0992914654..fa5e1e6304 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -67,7 +67,6 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/trajectory_bezier.h>
 #include <uORB/topics/vehicle_trajectory_waypoint.h>
 #include <uORB/topics/transponder_report.h>
 #include <uORB/topics/telemetry_status.h>
@@ -236,7 +235,6 @@ private:
 	orb_advert_t _manual_pub;
 	orb_advert_t _obstacle_distance_pub;
 	orb_advert_t _trajectory_waypoint_pub;
-	orb_advert_t _trajectory_bezier_pub;
 	orb_advert_t _land_detector_pub;
 	orb_advert_t _follow_target_pub;
 	orb_advert_t _landing_target_pose_pub;