diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index 1741230d1a2..f2349710020 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -288,7 +288,6 @@ set(incs
   ${DSSDK_GRABBER_INCLUDES}
   ${RSSDK_GRABBER_INCLUDES}
   ${RSSDK2_GRABBER_INCLUDES}
-  "include/pcl/${SUBSYS_NAME}/pxc_grabber.h"  # contains only depreciation note
 )
 
 set(compression_incs
diff --git a/io/include/pcl/io/pxc_grabber.h b/io/include/pcl/io/pxc_grabber.h
deleted file mode 100644
index 245e64f8cb6..00000000000
--- a/io/include/pcl/io/pxc_grabber.h
+++ /dev/null
@@ -1 +0,0 @@
-#error "PXCGrabber was deprecated and removed, please use DepthSenseGrabber instead"