diff --git a/CHANGELOG.md b/CHANGELOG.md
index 651c54da10..cd6d6055d1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@ For experimental package changes, see the [experimental CHANGELOG](experimental/
 
 ### :bug: (Bug Fix)
 
+* fix: avoid grpc types dependency [#3551](https://github.com/open-telemetry/opentelemetry-js/pull/3551) @flarna
 * fix(otlp-proto-exporter-base): Match Accept header with Content-Type in the proto exporter
  [#3562](https://github.com/open-telemetry/opentelemetry-js/pull/3562) @scheler
 
diff --git a/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc-js/clientUtils.ts b/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc-js/clientUtils.ts
index 050eee24b1..8c98a10936 100644
--- a/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc-js/clientUtils.ts
+++ b/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc-js/clientUtils.ts
@@ -33,7 +33,7 @@ import { CALL_SPAN_ENDED } from './serverUtils';
 import { EventEmitter } from 'events';
 import { AttributeNames } from '../enums/AttributeNames';
 import { SemanticAttributes } from '@opentelemetry/semantic-conventions';
-import { metadataCaptureType } from '../types';
+import { metadataCaptureType } from '../internal-types';
 import { GRPC_STATUS_CODE_OK } from '../status-code';
 
 /**
diff --git a/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc-js/index.ts b/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc-js/index.ts
index 9147f455a0..2e5c833b19 100644
--- a/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc-js/index.ts
+++ b/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc-js/index.ts
@@ -20,7 +20,8 @@ import {
   isWrapped,
 } from '@opentelemetry/instrumentation';
 import { InstrumentationBase } from '@opentelemetry/instrumentation';
-import { GrpcInstrumentationConfig, metadataCaptureType } from '../types';
+import { GrpcInstrumentationConfig } from '../types';
+import { metadataCaptureType } from '../internal-types';
 import {
   ServerCallWithMeta,
   SendUnaryDataCallback,
diff --git a/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc/clientUtils.ts b/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc/clientUtils.ts
index 47de2ecf34..af56330a85 100644
--- a/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc/clientUtils.ts
+++ b/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc/clientUtils.ts
@@ -25,7 +25,7 @@ import {
   findIndex,
 } from '../utils';
 import { AttributeNames } from '../enums/AttributeNames';
-import { metadataCaptureType } from '../types';
+import { metadataCaptureType } from '../internal-types';
 import { GRPC_STATUS_CODE_OK } from '../status-code';
 
 /**
diff --git a/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc/index.ts b/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc/index.ts
index 436e04ada4..4df381eb66 100644
--- a/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc/index.ts
+++ b/experimental/packages/opentelemetry-instrumentation-grpc/src/grpc/index.ts
@@ -27,7 +27,8 @@ import {
   SendUnaryDataCallback,
   GrpcClientFunc,
 } from './types';
-import { GrpcInstrumentationConfig, metadataCaptureType } from '../types';
+import { GrpcInstrumentationConfig } from '../types';
+import { metadataCaptureType } from '../internal-types';
 import {
   context,
   propagation,
diff --git a/experimental/packages/opentelemetry-instrumentation-grpc/src/internal-types.ts b/experimental/packages/opentelemetry-instrumentation-grpc/src/internal-types.ts
new file mode 100644
index 0000000000..d0052f7643
--- /dev/null
+++ b/experimental/packages/opentelemetry-instrumentation-grpc/src/internal-types.ts
@@ -0,0 +1,32 @@
+/*
+ * Copyright The OpenTelemetry Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+import { Span } from '@opentelemetry/api';
+import type * as grpcJsTypes from '@grpc/grpc-js';
+import type * as grpcTypes from 'grpc';
+
+export type metadataCaptureType = {
+  client: {
+    captureRequestMetadata: (
+      span: Span,
+      metadata: grpcJsTypes.Metadata | grpcTypes.Metadata
+    ) => void;
+    captureResponseMetadata: (
+      span: Span,
+      metadata: grpcJsTypes.Metadata | grpcTypes.Metadata
+    ) => void;
+  };
+};
diff --git a/experimental/packages/opentelemetry-instrumentation-grpc/src/types.ts b/experimental/packages/opentelemetry-instrumentation-grpc/src/types.ts
index 67940a48e0..dd08d8224b 100644
--- a/experimental/packages/opentelemetry-instrumentation-grpc/src/types.ts
+++ b/experimental/packages/opentelemetry-instrumentation-grpc/src/types.ts
@@ -15,9 +15,6 @@
  */
 
 import { InstrumentationConfig } from '@opentelemetry/instrumentation';
-import { Span } from '@opentelemetry/api';
-import type * as grpcJsTypes from '@grpc/grpc-js';
-import type * as grpcTypes from 'grpc';
 
 export type IgnoreMatcher = string | RegExp | ((str: string) => boolean);
 
@@ -34,16 +31,3 @@ export interface GrpcInstrumentationConfig extends InstrumentationConfig {
     };
   };
 }
-
-export type metadataCaptureType = {
-  client: {
-    captureRequestMetadata: (
-      span: Span,
-      metadata: grpcJsTypes.Metadata | grpcTypes.Metadata
-    ) => void;
-    captureResponseMetadata: (
-      span: Span,
-      metadata: grpcJsTypes.Metadata | grpcTypes.Metadata
-    ) => void;
-  };
-};