diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index aafcc35870..71223972c1 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -124,7 +124,6 @@ set(msg_file_names
 	vehicle_roi.msg
 	vehicle_status.msg
 	vehicle_status_flags.msg
-	vision_position_estimate.msg
 	vtol_vehicle_status.msg
 	wind_estimate.msg
 	)
diff --git a/msg/vision_position_estimate.msg b/msg/vision_position_estimate.msg
deleted file mode 100644
index 7e3ee14766..0000000000
--- a/msg/vision_position_estimate.msg
+++ /dev/null
@@ -1,16 +0,0 @@
-uint32 id			# ID of the estimator, commonly the component ID of the incoming message
-
-uint64 timestamp_received	# timestamp when the estimate was received
-
-float32 x			# X position in meters in NED earth-fixed frame
-float32 y			# Y position in meters in NED earth-fixed frame
-float32 z			# Z position in meters in NED earth-fixed frame (negative altitude)
-
-float32 vx			# X velocity in meters per second in NED earth-fixed frame
-float32 vy			# Y velocity in meters per second in NED earth-fixed frame
-float32 vz			# Z velocity in meters per second in NED earth-fixed frame
-
-float32[4] q			# Estimated attitude as quaternion
-
-float32 pos_err			# position error 1-std for each axis (metres)
-float32 ang_err			# angular error 1-std for each axis (rad)
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
index b722eb96cb..98a7feeb16 100644
--- a/src/modules/uORB/Subscription.cpp
+++ b/src/modules/uORB/Subscription.cpp
@@ -62,7 +62,6 @@
 #include "topics/vehicle_control_mode.h"
 #include "topics/actuator_armed.h"
 #include "topics/att_pos_mocap.h"
-#include "topics/vision_position_estimate.h"
 #include "topics/control_state.h"
 #include "topics/vehicle_land_detected.h"
 
@@ -180,7 +179,6 @@ template class __EXPORT Subscription<home_position_s>;
 template class __EXPORT Subscription<optical_flow_s>;
 template class __EXPORT Subscription<distance_sensor_s>;
 template class __EXPORT Subscription<att_pos_mocap_s>;
-template class __EXPORT Subscription<vision_position_estimate_s>;
 template class __EXPORT Subscription<control_state_s>;
 template class __EXPORT Subscription<vehicle_land_detected_s>;