diff --git a/include/maliput/drake/systems/framework/system_html.h b/include/maliput/drake/systems/framework/system_html.h
deleted file mode 100644
index 4c7148e..0000000
--- a/include/maliput/drake/systems/framework/system_html.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "maliput/drake/systems/framework/system.h"
-
-namespace maliput::drake {
-namespace systems {
-
-/** Generates an html string to "render" the @p system, with collapsible
-diagrams.  Use @p initial_depth to set the depth to which the subdiagrams are
-expanded by default (0 for all collapsed, +∞ for all expanded).
-
-@warning The implementation of GenerateHtml has been temporarily removed from
-Drake due to licensing restrictions.  This function will return valid HTML,
-but will not produce any useful rendering.
-
-@ingroup systems
-*/
-std::string GenerateHtml(const System<double>& system, int initial_depth = 1);
-
-}  // namespace systems
-}  // namespace maliput::drake
diff --git a/src/systems/framework/CMakeLists.txt b/src/systems/framework/CMakeLists.txt
index a0f4f8c..dfa76b1 100644
--- a/src/systems/framework/CMakeLists.txt
+++ b/src/systems/framework/CMakeLists.txt
@@ -29,7 +29,6 @@ add_library(framework
   system_base.cc
   system.cc
   system_constraint.cc
-  system_html.cc
   system_output.cc
   system_scalar_converter.cc
   system_symbolic_inspector.cc
diff --git a/src/systems/framework/system_html.cc b/src/systems/framework/system_html.cc
deleted file mode 100644
index 4a86353..0000000
--- a/src/systems/framework/system_html.cc
+++ /dev/null
@@ -1,270 +0,0 @@
-#include "maliput/drake/systems/framework/system_html.h"
-
-#include "maliput/drake/systems/framework/system.h"
-#include "maliput/drake/systems/framework/system_visitor.h"
-
-namespace maliput::drake {
-namespace systems {
-
-namespace {
-
-// Writes the descriptions of each system as nodes in the block diagram graph.
-class NodeWriter : public SystemVisitor<double> {
- public:
-  NodeWriter(const std::string parent, std::stringstream* html, int depth)
-      : parent_(parent), html_(html), depth_(depth) {}
-
-  void VisitSystem(const System<double>& system) final {
-    *html_ << "{ ";
-    *html_ << "key: \"" << system.get_name() << "\", ";
-    *html_ << "group: \"" << parent_ << "\", ";
-    *html_ << "input_ports: [ ";
-    for (int i = 0; i < system.num_input_ports(); ++i) {
-      *html_ << "{ name: \"" << system.get_input_port(i).get_name()
-             << "\", id: \"u" << i << "\" }, ";
-    }
-    *html_ << "],\n";
-    *html_ << "output_ports: [ ";
-    for (int i = 0; i < system.num_output_ports(); ++i) {
-      *html_ << "{ name: \"" << system.get_output_port(i).get_name()
-             << "\", id: \"y" << i << "\" }, ";
-    }
-    *html_ << "],\n";
-    *html_ << "},\n";
-  }
-
- private:
-  const std::string parent_;
-  std::stringstream* html_;
-  const int depth_;
-};
-
-// Extra visitor class to handle connections *from* either diagram input ports
-// or the output of a subsystem.
-class FromPortTokenWriter : public SystemVisitor<double> {
- public:
-  FromPortTokenWriter(int port_index, std::stringstream* html)
-      : port_index_(port_index), html_(html) {}
-
-  void VisitSystem(const System<double>& system) final {
-    *html_ << "from: \"" << system.get_name() << "\", ";
-    *html_ << "fromPort: \"y" << port_index_ << "\", ";
-  }
-
-  // void VisitDiagram(const Diagram<double>& diagram) final {
-  //   *html_ << "from: \"" << diagram.get_name() << "_y" << port_index_ << "\", ";
-  // }
-
- private:
-  const int port_index_;
-  std::stringstream* html_;
-};
-
-// Extra visitor class to handle connections *to* either diagram output ports or
-// the input of a subsystem.
-class ToPortTokenWriter : public SystemVisitor<double> {
- public:
-  ToPortTokenWriter(int port_index, std::stringstream* html)
-      : port_index_(port_index), html_(html) {}
-
-  void VisitSystem(const System<double>& system) final {
-    *html_ << "to: \"" << system.get_name() << "\", ";
-    *html_ << "toPort: \"u" << port_index_ << "\", ";
-  }
-
-  // void VisitDiagram(const Diagram<double>& diagram) final {
-  //   *html_ << "to: \"" << diagram.get_name() << "_u" << port_index_ << "\", ";
-  // }
-
- private:
-  const int port_index_;
-  std::stringstream* html_;
-};
-
-// Writes the connections between systems as edges in the block diagram graph.
-class LinkWriter : public SystemVisitor<double> {
- public:
-  explicit LinkWriter(std::stringstream* html) : html_(html) {}
-
-  void VisitSystem(const System<double>& system) final {
-    // No links to write.
-    unused(system);
-  }
-
- private:
-  std::stringstream* html_;
-};
-
-}  // namespace
-
-std::string GenerateHtml(const System<double>& system, int initial_depth) {
-  std::stringstream html;
-  html << R"""(
-<div style='height:400px;' id='myDiagramDiv'>
-The implementation of GenerateHtml has been temporarily removed from Drake due
-to licensing restrictions.
-</div>
-<script>
-  $ = go.GraphObject.make
-  var diagram = $(go.Diagram, "myDiagramDiv", {
-    "undoManager.isEnabled": true,
-    initialAutoScale: go.Diagram.Uniform
-  });
-  diagram.layout = $(go.LayeredDigraphLayout, {
-    layerSpacing: 20,
-    columnSpacing: 20,
-    isRealtime: false
-  });
-
-  diagram.groupTemplate = $(
-    go.Group,
-    "Auto",
-    { layout: $(go.LayeredDigraphLayout, { direction: 0, columnSpacing: 10 }) },
-    new go.Binding("isSubGraphExpanded", "expanded"),
-    $(
-      go.Shape,
-      "RoundedRectangle", // surrounds everything
-      { parameter1: 10, fill: "rgba(128,128,128,0.33)" }
-    ),
-    $(
-      go.Panel,
-      "Vertical", // position header above the subgraph
-      { defaultAlignment: go.Spot.Left },
-      $(
-        go.Panel,
-        "Horizontal", // the header
-        { defaultAlignment: go.Spot.Top },
-        $("SubGraphExpanderButton"), // this Panel acts as a Button
-        $(
-          go.TextBlock, // group title near top, next to button
-          { font: "Bold 12pt Sans-Serif" },
-          new go.Binding("text", "name")
-        )
-      ),
-      $(
-        go.Placeholder, // represents area for all member parts
-        { padding: new go.Margin(0, 10), background: "white" }
-      )
-    )
-  );
-  var systemTemplate = $(
-    go.Node,
-    "Auto",
-    $(go.Shape, "RoundedRectangle", {
-      parameter1: 10,
-      fill: "rgba(128,128,228,0.33)"
-    }),
-    $(
-      go.Panel,
-      "Table",
-      { margin: 10 },
-      $(
-        go.TextBlock,
-        { row: 0, column: 0, columnSpan: 2, alignment: go.Spot.Center },
-        { font: "bold 12pt sans-serif" },
-        new go.Binding("text", "key")
-      ),
-      $(go.RowColumnDefinition, {
-        row: 1,
-        separatorStrokeWidth: 1.5,
-        separatorStroke: "black"
-      }),
-      $(go.TextBlock, {
-        // add a spacer
-        row: 1,
-        column: 0,
-        columnSpan: 2,
-        height: 10
-      }),
-      $(
-        go.Panel,
-        "Vertical",
-        { name: "INPUT_PORTS" },
-        new go.Binding("itemArray", "input_ports"),
-        {
-          row: 2,
-          column: 0,
-          alignment: go.Spot.Left,
-          itemTemplate: $(
-            go.Panel,
-            "Auto",
-            { margin: 2 },
-            $(go.Shape, "RoundedRectangle", { fill: "lightcyan" }),
-            $(go.TextBlock, new go.Binding("text", "name"), {
-              margin: 2
-            }),
-            new go.Binding("portId", "id")
-          ) // end of itemTemplate
-        }
-      ),
-      $(
-        go.Panel,
-        "Vertical",
-        { name: "OUTPUT_PORTS" },
-        new go.Binding("itemArray", "output_ports"),
-        {
-          row: 2,
-          column: 1,
-          alignment: go.Spot.Right,
-          itemTemplate: $(
-            go.Panel,
-            "Auto",
-            { margin: 2 },
-            $(go.Shape, "RoundedRectangle", { fill: "lightcyan" }),
-            $(go.TextBlock, new go.Binding("text", "name"), {
-              margin: 2
-            }),
-            new go.Binding("portId", "id")
-          ) // end of itemTemplate
-        }
-      )
-    )
-  );
-
-  var portTemplate = $(
-    go.Node,
-    "Auto",
-    $(go.Shape, "RoundedRectangle", {
-      parameter1: 10,
-      fill: "honeydew"
-    }),
-    $(
-      go.TextBlock,
-      { row: 0, column: 0, columnSpan: 2, alignment: go.Spot.Right },
-      new go.Binding("text", "name")
-    )
-  );
-
-  var templmap = new go.Map();
-  templmap.add("", systemTemplate);
-  templmap.add("input_port", portTemplate);
-  templmap.add("output_port", portTemplate);
-  diagram.nodeTemplateMap = templmap;
-
-  diagram.model = $(go.GraphLinksModel, {
-    linkFromPortIdProperty: "fromPort", // required information:
-    linkToPortIdProperty: "toPort", // identifies data property names
-    nodeDataArray: [
-)""";
-
-  NodeWriter node_writer("", &html, initial_depth);
-  system.Accept(&node_writer);
-
-  html << R"""(
-    ],
-    linkDataArray: [
-)""";
-
-  LinkWriter link_writer(&html);
-  system.Accept(&link_writer);
-
-  html << R"""(
-    ]
-  });
-</script>
-)""";
-  return html.str();
-}
-
-}  // namespace systems
-}  // namespace maliput::drake