diff --git a/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp b/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp
index b57fdabb95..4b137d71ec 100644
--- a/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp
+++ b/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp
@@ -230,10 +230,6 @@ class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
   void
   remove_sequence_data(rosidl_dynamic_typesupport_member_id_t index);
 
-  RCLCPP_PUBLIC
-  void
-  print() const;
-
   RCLCPP_PUBLIC
   bool
   serialize(rcl_serialized_message_t * buffer);
diff --git a/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp b/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp
index 52dfde8c6c..27cfdf43c7 100644
--- a/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp
+++ b/rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp
@@ -158,12 +158,6 @@ class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMes
   DynamicMessage::ConstSharedPtr
   get_shared_dynamic_message() const;
 
-
-  // METHODS =======================================================================================
-  RCLCPP_PUBLIC
-  void
-  print_description() const;
-
 protected:
   RCLCPP_DISABLE_COPY(DynamicMessageTypeSupport)
 
diff --git a/rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message.cpp b/rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message.cpp
index 28f131a8d0..68249d622b 100644
--- a/rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message.cpp
+++ b/rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message.cpp
@@ -539,13 +539,6 @@ DynamicMessage::remove_sequence_data(rosidl_dynamic_typesupport_member_id_t inde
 }
 
 
-void
-DynamicMessage::print() const
-{
-  rosidl_dynamic_typesupport_dynamic_data_print(get_rosidl_dynamic_data());
-}
-
-
 bool
 DynamicMessage::serialize(rcl_serialized_message_t * buffer)
 {
diff --git a/rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp b/rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
index 76a438da83..0eb7b03731 100644
--- a/rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
+++ b/rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
@@ -461,14 +461,3 @@ DynamicMessageTypeSupport::get_shared_dynamic_message() const
 {
   return dynamic_message_;
 }
-
-
-// METHODS =========================================================================================
-void
-DynamicMessageTypeSupport::print_description() const
-{
-  if (!description_) {
-    RCUTILS_LOG_ERROR("Can't print description, no bound description.");
-  }
-  rosidl_runtime_c_type_description_utils_print_type_description(description_.get());
-}