diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp
index e252d9c889d..4f50614876c 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp
@@ -56,10 +56,6 @@ class CostmapSubscriber
    * @brief Get current costmap
    */
   std::shared_ptr<Costmap2D> getCostmap();
-  /**
-   * @brief Get the timestamp of the last costmap update
-   */
-  rclcpp::Time getTimestampLastCostmapUpdate();
   /**
    * @brief Callback for the costmap topic
    */
diff --git a/nav2_costmap_2d/src/costmap_subscriber.cpp b/nav2_costmap_2d/src/costmap_subscriber.cpp
index f401b1eec43..0426b87be30 100644
--- a/nav2_costmap_2d/src/costmap_subscriber.cpp
+++ b/nav2_costmap_2d/src/costmap_subscriber.cpp
@@ -68,18 +68,6 @@ std::shared_ptr<Costmap2D> CostmapSubscriber::getCostmap()
   return costmap_;
 }
 
-rclcpp::Time CostmapSubscriber::getTimestampLastCostmapUpdate()
-{
-  if (!isCostmapReceived()) {
-    throw std::runtime_error("Costmap is not available");
-  }
-
-  std::lock_guard<std::mutex> lock(costmap_msg_mutex_);
-  auto stamp = costmap_msg_->header.stamp;
-
-  return stamp;
-}
-
 void CostmapSubscriber::costmapCallback(const nav2_msgs::msg::Costmap::SharedPtr msg)
 {
   {