diff --git a/drivers/rpmsg/CMakeLists.txt b/drivers/rpmsg/CMakeLists.txt
index 99917c44304..8cfb58d5b44 100644
--- a/drivers/rpmsg/CMakeLists.txt
+++ b/drivers/rpmsg/CMakeLists.txt
@@ -31,8 +31,6 @@ if(CONFIG_RPMSG)
 
   if(CONFIG_RPMSG_PORT)
     list(APPEND SRCS rpmsg_port.c)
-    target_include_directories(drivers
-                               PRIVATE ${NUTTX_DIR}/openamp/open-amp/lib)
   endif()
 
   if(CONFIG_RPMSG_PORT_SPI)
diff --git a/drivers/rpmsg/Make.defs b/drivers/rpmsg/Make.defs
index ed4924fa410..5ac4247cb8b 100644
--- a/drivers/rpmsg/Make.defs
+++ b/drivers/rpmsg/Make.defs
@@ -40,7 +40,6 @@ endif
 
 ifeq ($(CONFIG_RPMSG_PORT),y)
 CSRCS += rpmsg_port.c
-CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)openamp$(DELIM)open-amp$(DELIM)lib
 endif
 
 ifeq ($(CONFIG_RPMSG_PORT_SPI),y)
@@ -61,7 +60,6 @@ endif
 
 ifeq ($(CONFIG_RPMSG_VIRTIO_LITE),y)
 CSRCS += rpmsg_virtio_lite.c
-CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)openamp$(DELIM)open-amp$(DELIM)lib
 endif
 
 ifeq ($(CONFIG_RPMSG_VIRTIO_IVSHMEM),y)
diff --git a/drivers/rpmsg/rpmsg.c b/drivers/rpmsg/rpmsg.c
index 311e22211a1..83ff56cbc59 100644
--- a/drivers/rpmsg/rpmsg.c
+++ b/drivers/rpmsg/rpmsg.c
@@ -32,7 +32,6 @@
 #include <nuttx/rwsem.h>
 #include <nuttx/semaphore.h>
 #include <nuttx/rpmsg/rpmsg.h>
-#include <rpmsg/rpmsg_internal.h>
 
 #include "rpmsg_ping.h"
 #include "rpmsg_router.h"
diff --git a/drivers/rpmsg/rpmsg_port.c b/drivers/rpmsg/rpmsg_port.c
index 391786af1c9..f2c12a1315a 100644
--- a/drivers/rpmsg/rpmsg_port.c
+++ b/drivers/rpmsg/rpmsg_port.c
@@ -32,8 +32,6 @@
 #include <metal/mutex.h>
 #include <metal/sys.h>
 
-#include <rpmsg/rpmsg_internal.h>
-
 #include "rpmsg_port.h"
 
 /****************************************************************************
diff --git a/drivers/rpmsg/rpmsg_router_edge.c b/drivers/rpmsg/rpmsg_router_edge.c
index 3bdfbc8c406..533d3cf3659 100644
--- a/drivers/rpmsg/rpmsg_router_edge.c
+++ b/drivers/rpmsg/rpmsg_router_edge.c
@@ -33,7 +33,6 @@
 #include <stdbool.h>
 
 #include <nuttx/kmalloc.h>
-#include <rpmsg/rpmsg_internal.h>
 
 #include "rpmsg_router.h"
 
diff --git a/drivers/rpmsg/rpmsg_router_hub.c b/drivers/rpmsg/rpmsg_router_hub.c
index 6f872d90abf..9a95be3d43e 100644
--- a/drivers/rpmsg/rpmsg_router_hub.c
+++ b/drivers/rpmsg/rpmsg_router_hub.c
@@ -36,7 +36,6 @@
 #include <nuttx/mutex.h>
 #include <nuttx/kmalloc.h>
 #include <nuttx/wqueue.h>
-#include <rpmsg/rpmsg_internal.h>
 
 #include "rpmsg_router.h"
 
diff --git a/drivers/rpmsg/rpmsg_virtio.c b/drivers/rpmsg/rpmsg_virtio.c
index 868519bdd66..d76df821776 100644
--- a/drivers/rpmsg/rpmsg_virtio.c
+++ b/drivers/rpmsg/rpmsg_virtio.c
@@ -36,7 +36,6 @@
 #include <nuttx/virtio/virtio-config.h>
 #include <metal/utilities.h>
 #include <openamp/rpmsg_virtio.h>
-#include <rpmsg/rpmsg_internal.h>
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/drivers/rpmsg/rpmsg_virtio_lite.c b/drivers/rpmsg/rpmsg_virtio_lite.c
index 2925609c3e2..90b73bd77ef 100644
--- a/drivers/rpmsg/rpmsg_virtio_lite.c
+++ b/drivers/rpmsg/rpmsg_virtio_lite.c
@@ -37,7 +37,6 @@
 #include <nuttx/power/pm.h>
 #include <nuttx/semaphore.h>
 #include <nuttx/rpmsg/rpmsg_virtio_lite.h>
-#include <rpmsg/rpmsg_internal.h>
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/include/nuttx/rpmsg/rpmsg.h b/include/nuttx/rpmsg/rpmsg.h
index 06f0be0193a..b6b6a358c92 100644
--- a/include/nuttx/rpmsg/rpmsg.h
+++ b/include/nuttx/rpmsg/rpmsg.h
@@ -35,6 +35,7 @@
 #include <nuttx/fs/ioctl.h>
 #include <nuttx/rpmsg/rpmsg_ping.h>
 #include <openamp/rpmsg.h>
+#include <openamp/rpmsg_internal.h>
 
 /****************************************************************************
  * Pre-processor Definitions