diff --git a/drivers/rpmsg/rpmsg.c b/drivers/rpmsg/rpmsg.c
index ae2f786019e..58bc6744e84 100644
--- a/drivers/rpmsg/rpmsg.c
+++ b/drivers/rpmsg/rpmsg.c
@@ -31,8 +31,8 @@
 #include <nuttx/mutex.h>
 #include <nuttx/rwsem.h>
 #include <nuttx/semaphore.h>
-#include <nuttx/rpmsg/rpmsg.h>
 
+#include "rpmsg.h"
 #include "rpmsg_ping.h"
 #include "rpmsg_router.h"
 #include "rpmsg_test.h"
diff --git a/drivers/rpmsg/rpmsg.h b/drivers/rpmsg/rpmsg.h
new file mode 100644
index 00000000000..0fad854e42b
--- /dev/null
+++ b/drivers/rpmsg/rpmsg.h
@@ -0,0 +1,63 @@
+/****************************************************************************
+ * drivers/rpmsg/rpmsg.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __DRIVERS_RPMSG_RPMSG_H
+#define __DRIVERS_RPMSG_RPMSG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#ifdef CONFIG_RPMSG
+
+#include <nuttx/rpmsg/rpmsg.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+static inline FAR struct rpmsg_device *
+rpmsg_get_rdev_by_rpmsg(FAR struct rpmsg_s *rpmsg)
+{
+  if (!rpmsg)
+    {
+      return NULL;
+    }
+
+  return (FAR struct rpmsg_device *)(rpmsg + 1);
+}
+
+void rpmsg_modify_signals(FAR struct rpmsg_s *rpmsg,
+                          int setflags, int clrflags);
+
+void rpmsg_ns_bind(FAR struct rpmsg_device *rdev,
+                   FAR const char *name, uint32_t dest);
+void rpmsg_ns_unbind(FAR struct rpmsg_device *rdev,
+                     FAR const char *name, uint32_t dest);
+
+void rpmsg_device_created(FAR struct rpmsg_s *rpmsg);
+void rpmsg_device_destory(FAR struct rpmsg_s *rpmsg);
+
+int rpmsg_register(FAR const char *path, FAR struct rpmsg_s *rpmsg,
+                   FAR const struct rpmsg_ops_s *ops);
+void rpmsg_unregister(FAR const char *path, FAR struct rpmsg_s *rpmsg);
+
+#endif /* CONFIG_RPMSG */
+#endif /* __DRIVERS_RPMSG_RPMSG_H */
diff --git a/drivers/rpmsg/rpmsg_port.h b/drivers/rpmsg/rpmsg_port.h
index 94d514982ab..0245c2c1c1c 100644
--- a/drivers/rpmsg/rpmsg_port.h
+++ b/drivers/rpmsg/rpmsg_port.h
@@ -32,9 +32,10 @@
 #include <nuttx/list.h>
 #include <nuttx/spinlock.h>
 #include <nuttx/semaphore.h>
-#include <nuttx/rpmsg/rpmsg.h>
 #include <nuttx/rpmsg/rpmsg_port.h>
 
+#include "rpmsg.h"
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
diff --git a/drivers/rpmsg/rpmsg_router.h b/drivers/rpmsg/rpmsg_router.h
index cb799cd253b..dc80617ab53 100644
--- a/drivers/rpmsg/rpmsg_router.h
+++ b/drivers/rpmsg/rpmsg_router.h
@@ -27,7 +27,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/rpmsg/rpmsg.h>
+#include "rpmsg.h"
 
 /****************************************************************************
  * Pre-processor Definitions
diff --git a/drivers/rpmsg/rpmsg_virtio.c b/drivers/rpmsg/rpmsg_virtio.c
index 66a44fe0840..2983d624b1f 100644
--- a/drivers/rpmsg/rpmsg_virtio.c
+++ b/drivers/rpmsg/rpmsg_virtio.c
@@ -31,7 +31,6 @@
 #include <nuttx/kmalloc.h>
 #include <nuttx/kthread.h>
 #include <nuttx/power/pm.h>
-#include <nuttx/rpmsg/rpmsg.h>
 #include <nuttx/rpmsg/rpmsg_virtio.h>
 #include <nuttx/semaphore.h>
 #include <nuttx/spinlock.h>
@@ -40,6 +39,8 @@
 #include <metal/utilities.h>
 #include <openamp/rpmsg_virtio.h>
 
+#include "rpmsg.h"
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
diff --git a/drivers/rpmsg/rpmsg_virtio_lite.c b/drivers/rpmsg/rpmsg_virtio_lite.c
index 65bf52a59e6..4f08432c46f 100644
--- a/drivers/rpmsg/rpmsg_virtio_lite.c
+++ b/drivers/rpmsg/rpmsg_virtio_lite.c
@@ -38,6 +38,8 @@
 #include <nuttx/semaphore.h>
 #include <nuttx/rpmsg/rpmsg_virtio_lite.h>
 
+#include "rpmsg.h"
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
diff --git a/include/nuttx/rpmsg/rpmsg.h b/include/nuttx/rpmsg/rpmsg.h
index 86d11f195b0..08ef10da8c6 100644
--- a/include/nuttx/rpmsg/rpmsg.h
+++ b/include/nuttx/rpmsg/rpmsg.h
@@ -107,25 +107,12 @@ extern "C"
 #define EXTERN extern
 #endif
 
-static inline FAR struct rpmsg_device *
-rpmsg_get_rdev_by_rpmsg(FAR struct rpmsg_s *rpmsg)
-{
-  if (!rpmsg)
-    {
-      return NULL;
-    }
-
-  return (FAR struct rpmsg_device *)(rpmsg + 1);
-}
-
 int rpmsg_wait(FAR struct rpmsg_endpoint *ept, FAR sem_t *sem);
 int rpmsg_post(FAR struct rpmsg_endpoint *ept, FAR sem_t *sem);
 
 FAR const char *rpmsg_get_local_cpuname(FAR struct rpmsg_device *rdev);
 FAR const char *rpmsg_get_cpuname(FAR struct rpmsg_device *rdev);
 int rpmsg_get_signals(FAR struct rpmsg_device *rdev);
-void rpmsg_modify_signals(FAR struct rpmsg_s *rpmsg,
-                          int setflags, int clrflags);
 
 static inline_function bool rpmsg_is_running(FAR struct rpmsg_device *rdev)
 {
@@ -143,18 +130,6 @@ void rpmsg_unregister_callback(FAR void *priv,
                                rpmsg_match_cb_t ns_match,
                                rpmsg_bind_cb_t ns_bind);
 
-void rpmsg_ns_bind(FAR struct rpmsg_device *rdev,
-                   FAR const char *name, uint32_t dest);
-void rpmsg_ns_unbind(FAR struct rpmsg_device *rdev,
-                     FAR const char *name, uint32_t dest);
-
-void rpmsg_device_created(FAR struct rpmsg_s *rpmsg);
-void rpmsg_device_destory(FAR struct rpmsg_s *rpmsg);
-
-int rpmsg_register(FAR const char *path, FAR struct rpmsg_s *rpmsg,
-                   FAR const struct rpmsg_ops_s *ops);
-void rpmsg_unregister(FAR const char *path, FAR struct rpmsg_s *rpmsg);
-
 int rpmsg_ioctl(FAR const char *cpuname, int cmd, unsigned long arg);
 int rpmsg_panic(FAR const char *cpuname);
 void rpmsg_dump_all(void);