diff --git a/.gitignore b/.gitignore
index 43455125a4..3cf9f62103 100644
--- a/.gitignore
+++ b/.gitignore
@@ -255,6 +255,3 @@ bazel_auth.rc
 
 # ctest
 /Testing/
-
-# protobuf
-!wpiprotoplugin.jar
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ff379672ed..190214e99f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -293,8 +293,6 @@ if(WITH_NTCORE)
     add_subdirectory(ntcore)
 endif()
 
-add_subdirectory(protoplugin)
-
 if(WITH_WPIMATH)
     if(WITH_JAVA)
         set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
diff --git a/build.gradle b/build.gradle
index 6417e955f7..75cc147d5d 100644
--- a/build.gradle
+++ b/build.gradle
@@ -21,7 +21,6 @@ plugins {
     id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
     id 'com.diffplug.spotless' version '6.20.0' apply false
     id 'com.github.spotbugs' version '6.0.2' apply false
-    id 'com.google.protobuf' version '0.9.3' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
diff --git a/cmake/modules/WpiProtobuf.cmake b/cmake/modules/WpiProtobuf.cmake
deleted file mode 100644
index 6fc6cad1fd..0000000000
--- a/cmake/modules/WpiProtobuf.cmake
+++ /dev/null
@@ -1,92 +0,0 @@
-function(wpi_protobuf_generate)
-    set(_singleargs PROTOC_OUT_DIR PLUGIN DEPENDENCIES)
-    if(COMMAND target_sources)
-        list(APPEND _singleargs TARGET)
-    endif()
-    set(_multiargs PROTOS)
-
-    cmake_parse_arguments(
-        wpi_protobuf_generate
-        "${_options}"
-        "${_singleargs}"
-        "${_multiargs}"
-        "${ARGN}"
-    )
-
-    if(NOT wpi_protobuf_generate_PROTOS)
-        message(SEND_ERROR "Error: protobuf_generate called without any targets or source files")
-        return()
-    endif()
-
-    if(NOT wpi_protobuf_generate_TARGET)
-        message(SEND_ERROR "Error: wpi_protobuf_generate called without a target")
-        return()
-    endif()
-
-    if(NOT wpi_protobuf_generate_PROTOC_OUT_DIR)
-        message(SEND_ERROR "Error: protobuf_generate called without a protoc out directory")
-        return()
-    endif()
-
-    if(NOT wpi_protobuf_generate_PLUGIN)
-        message(SEND_ERROR "Error: wpi_protobuf_generate called without a plugin")
-        return()
-    endif()
-
-    set(_generate_extensions .pb.h .pb.cc)
-
-    # Create an include path for each file specified
-    foreach(_file ${wpi_protobuf_generate_PROTOS})
-        get_filename_component(_abs_file ${_file} ABSOLUTE)
-        get_filename_component(_abs_dir ${_abs_file} DIRECTORY)
-        list(FIND _protobuf_include_path ${_abs_dir} _contains_already)
-        if(${_contains_already} EQUAL -1)
-            list(APPEND _protobuf_include_path -I ${_abs_dir})
-        endif()
-    endforeach()
-
-    set(_generated_srcs_all)
-    foreach(_proto ${wpi_protobuf_generate_PROTOS})
-        get_filename_component(_abs_file ${_proto} ABSOLUTE)
-        get_filename_component(_abs_dir ${_abs_file} DIRECTORY)
-        get_filename_component(_basename ${_proto} NAME_WLE)
-        file(RELATIVE_PATH _rel_dir ${CMAKE_CURRENT_SOURCE_DIR} ${_abs_dir})
-
-        set(_possible_rel_dir)
-
-        set(_generated_srcs)
-        foreach(_ext ${_generate_extensions})
-            list(
-                APPEND
-                _generated_srcs
-                "${wpi_protobuf_generate_PROTOC_OUT_DIR}/${_possible_rel_dir}${_basename}${_ext}"
-            )
-        endforeach()
-
-        list(APPEND _generated_srcs_all ${_generated_srcs})
-
-        set(_comment "Running WPILib protocol buffer compiler on ${_proto}")
-
-        add_custom_command(
-            OUTPUT ${_generated_srcs}
-            COMMAND protobuf::protoc
-            ARGS
-                --cpp_out ${wpi_protobuf_generate_PROTOC_OUT_DIR} --wpilib_out
-                ${wpi_protobuf_generate_PROTOC_OUT_DIR}
-                --plugin=protoc-gen-wpilib=${wpi_protobuf_generate_PLUGIN} ${_protobuf_include_path}
-                ${_abs_file}
-            DEPENDS
-                ${_abs_file}
-                protobuf::protoc
-                ${wpi_protobuf_generate_DEPENDENCIES}
-                ${wpi_protobuf_generate_PLUGIN}
-            COMMENT ${_comment}
-            VERBATIM
-        )
-    endforeach()
-
-    set_source_files_properties(${_generated_srcs_all} PROPERTIES GENERATED TRUE)
-    if(wpi_protobuf_generate_TARGET)
-        target_sources(${wpi_protobuf_generate_TARGET} PRIVATE ${_generated_srcs_all})
-    endif()
-endfunction()
diff --git a/protoplugin/CMakeLists.txt b/protoplugin/CMakeLists.txt
deleted file mode 100644
index 599f8cafab..0000000000
--- a/protoplugin/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-project(protoplugin)
-
-set(PROTO_JAR ${CMAKE_CURRENT_SOURCE_DIR}/binary/wpiprotoplugin.jar)
-
-configure_file(
-    ${CMAKE_CURRENT_SOURCE_DIR}/binary/wpiprotoplugin.sh.in
-    ${CMAKE_CURRENT_BINARY_DIR}/wpiprotoplugin.sh
-    @ONLY
-)
-configure_file(
-    ${CMAKE_CURRENT_SOURCE_DIR}/binary/wpiprotoplugin.bat.in
-    ${CMAKE_CURRENT_BINARY_DIR}/wpiprotoplugin.bat
-    @ONLY
-)
-
-if(WIN32)
-    set(PROTOC_WPILIB_PLUGIN ${CMAKE_CURRENT_BINARY_DIR}/wpiprotoplugin.bat PARENT_SCOPE)
-else()
-    set(PROTOC_WPILIB_PLUGIN ${CMAKE_CURRENT_BINARY_DIR}/wpiprotoplugin.sh PARENT_SCOPE)
-endif()
diff --git a/protoplugin/binary/wpiprotoplugin.bat.in b/protoplugin/binary/wpiprotoplugin.bat.in
deleted file mode 100644
index 2062ec3435..0000000000
--- a/protoplugin/binary/wpiprotoplugin.bat.in
+++ /dev/null
@@ -1,2 +0,0 @@
-@ECHO OFF
-"@Java_JAVA_EXECUTABLE@" -jar "@PROTO_JAR@" %*
diff --git a/protoplugin/binary/wpiprotoplugin.jar b/protoplugin/binary/wpiprotoplugin.jar
deleted file mode 100644
index 8905211fee..0000000000
Binary files a/protoplugin/binary/wpiprotoplugin.jar and /dev/null differ
diff --git a/protoplugin/binary/wpiprotoplugin.sh.in b/protoplugin/binary/wpiprotoplugin.sh.in
deleted file mode 100755
index 22d955a57f..0000000000
--- a/protoplugin/binary/wpiprotoplugin.sh.in
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/sh
-exec "@Java_JAVA_EXECUTABLE@" -jar "@PROTO_JAR@" "$@"
diff --git a/protoplugin/build.gradle b/protoplugin/build.gradle
deleted file mode 100644
index c84734df4e..0000000000
--- a/protoplugin/build.gradle
+++ /dev/null
@@ -1,33 +0,0 @@
-plugins {
-    id 'application'
-    id 'java'
-    id 'com.gradleup.shadow' version '8.3.0'
-}
-
-application {
-    mainClass = "org.wpilib.ProtoCDllGenerator"
-}
-
-repositories {
-    mavenCentral()
-}
-
-dependencies {
-    implementation "com.google.protobuf:protobuf-java:3.21.12"
-}
-
-java {
-    sourceCompatibility = 8
-    targetCompatibility = 8
-}
-
-def cshadow = project.tasks.register("copyShadow", Copy) {
-    from(tasks.shadowJar.archiveFile) {
-        rename {
-            "wpiprotoplugin.jar"
-        }
-    }
-    into layout.projectDirectory.dir("binary")
-}
-
-build.dependsOn cshadow
diff --git a/protoplugin/settings.gradle b/protoplugin/settings.gradle
deleted file mode 100644
index 8b13789179..0000000000
--- a/protoplugin/settings.gradle
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/protoplugin/src/main/java/org/wpilib/ProtoCDllGenerator.java b/protoplugin/src/main/java/org/wpilib/ProtoCDllGenerator.java
deleted file mode 100644
index 3c7c29d51a..0000000000
--- a/protoplugin/src/main/java/org/wpilib/ProtoCDllGenerator.java
+++ /dev/null
@@ -1,76 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.wpilib;
-
-import com.google.protobuf.compiler.PluginProtos.CodeGeneratorResponse;
-
-import java.io.IOException;
-import java.util.HashMap;
-import java.util.Map;
-
-import com.google.protobuf.DescriptorProtos.FileDescriptorProto;
-import com.google.protobuf.Descriptors;
-import com.google.protobuf.Descriptors.Descriptor;
-import com.google.protobuf.Descriptors.DescriptorValidationException;
-import com.google.protobuf.Descriptors.FieldDescriptor;
-import com.google.protobuf.Descriptors.FieldDescriptor.Type;
-import com.google.protobuf.compiler.PluginProtos.CodeGeneratorRequest;
-
-public final class ProtoCDllGenerator {
-  private ProtoCDllGenerator() {
-  }
-
-  public static void main(String[] args) throws IOException, DescriptorValidationException {
-    CodeGeneratorRequest request = CodeGeneratorRequest.parseFrom(System.in);
-
-    Map<String, Descriptors.FileDescriptor> descriptors = new HashMap<>();
-
-    Descriptors.FileDescriptor[] tmpArray = new Descriptors.FileDescriptor[0];
-
-    for (FileDescriptorProto proto : request.getProtoFileList()) {
-      // Make array of file descriptors that exists
-      Descriptors.FileDescriptor[] depArray = descriptors.values().toArray(tmpArray);
-      Descriptors.FileDescriptor desc = Descriptors.FileDescriptor.buildFrom(proto, depArray);
-      descriptors.put(proto.getName(), desc);
-    }
-
-    // Filter to generated descriptors
-    CodeGeneratorResponse.Builder response = CodeGeneratorResponse.newBuilder();
-
-    for (String genFile : request.getFileToGenerateList()) {
-      Descriptors.FileDescriptor desc = descriptors.get(genFile);
-
-      for (Descriptor msg : desc.getMessageTypes()) {
-        for (FieldDescriptor field : msg.getFields()) {
-          if (field.getType() == Type.MESSAGE && !field.isRepeated()) {
-            // If we have a nested non repeated field, we need a custom accessor
-            String type = field.getMessageType().getFullName();
-            type = "::" + type.replaceAll("\\.", "::");
-
-            // Add definition
-            response.addFileBuilder()
-                .setName(desc.getName().replace("proto", "pb.h"))
-                .setInsertionPoint("class_scope:" + msg.getFullName())
-                .setContent("// Custom WPILib Accessor\n"
-                    + "bool wpi_has_" + field.getName() + "() const;\n"
-                    + "const " + type + "& wpi_" + field.getName() + "() const;\n");
-
-            // Add implementation. As were in the cc file for the proto
-            // we can just call straight through to the inline definitions
-            response.addFileBuilder()
-                .setName(desc.getName().replace("proto", "pb.cc"))
-                .setInsertionPoint("namespace_scope")
-                .setContent("// Custom WPILib Accessor\n"
-                    + "bool " + msg.getName() + "::wpi_has_" + field.getName() + "() const { return has_"
-                    + field.getName() + "(); }\n"
-                    + "const " + type + "& " + msg.getName() + "::wpi_" + field.getName() + "() const { return "
-                    + field.getName() + "(); }\n");
-          }
-        }
-      }
-    }
-    response.build().writeTo(System.out);
-  }
-}
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
index e1f81ecce2..7802818b48 100644
--- a/shared/java/javacommon.gradle
+++ b/shared/java/javacommon.gradle
@@ -1,7 +1,6 @@
 apply plugin: 'maven-publish'
 apply plugin: 'java-library'
 apply plugin: 'jacoco'
-apply plugin: 'com.google.protobuf'
 
 def baseArtifactId = project.baseId
 def artifactGroupId = project.groupId
@@ -143,35 +142,3 @@ jacocoTestReport {
         html.required = true
     }
 }
-
-protobuf {
-    protoc {
-        artifact = 'com.google.protobuf:protoc:3.21.12'
-    }
-    plugins {
-        wpilib {
-            path = rootProject.file("protoplugin/binary/wpiprotoplugin.jar")
-        }
-    }
-    generateProtoTasks {
-        all().configureEach { task ->
-            if (project.hasProperty('skipproto')) {
-                task.builtins {
-                    cpp {}
-                    remove java
-                }
-                return
-            }
-            task.inputs.file(rootProject.file("protoplugin/binary/wpiprotoplugin.jar"))
-            task.plugins {
-                wpilib {
-                    outputSubDir = 'cpp'
-                }
-            }
-            task.builtins {
-                cpp {}
-                remove java
-            }
-        }
-    }
-}
diff --git a/shared/javacpp/setupBuild.gradle b/shared/javacpp/setupBuild.gradle
index fa4965a23d..8eb9d4dad3 100644
--- a/shared/javacpp/setupBuild.gradle
+++ b/shared/javacpp/setupBuild.gradle
@@ -43,9 +43,6 @@ model {
                     it.buildable = false
                     return
                 }
-                it.tasks.withType(CppCompile) {
-                    it.dependsOn generateProto
-                }
                 if (project.hasProperty('extraSetup')) {
                     extraSetup(it)
                 }
diff --git a/shared/jni/setupBuild.gradle b/shared/jni/setupBuild.gradle
index 343b75eb4c..9cf2be0ffe 100644
--- a/shared/jni/setupBuild.gradle
+++ b/shared/jni/setupBuild.gradle
@@ -67,9 +67,6 @@ model {
                 if (!project.hasProperty('noWpiutil')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 }
-                it.tasks.withType(CppCompile) {
-                    it.dependsOn generateProto
-                }
                 if (project.hasProperty('splitSetup')) {
                     splitSetup(it)
                 }
@@ -223,9 +220,6 @@ model {
                         nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
                     }
                 }
-                it.tasks.withType(CppCompile) {
-                    it.dependsOn generateProto
-                }
                 if (project.hasProperty('exeSplitSetup')) {
                     exeSplitSetup(it)
                 }
@@ -279,9 +273,6 @@ model {
                     nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
                 }
             }
-            it.tasks.withType(CppCompile) {
-                it.dependsOn generateProto
-            }
             if (project.hasProperty('exeSplitSetup')) {
                 exeSplitSetup(it)
             }
diff --git a/wpimath/build.gradle b/wpimath/build.gradle
index 07cd11b5e9..08e7a9cc45 100644
--- a/wpimath/build.gradle
+++ b/wpimath/build.gradle
@@ -43,10 +43,6 @@ cppHeadersZip {
     from('src/main/native/thirdparty/gcem/include') {
         into '/'
     }
-    from("$buildDir/generated/source/proto/main/cpp") {
-        into '/wpimath/protobuf'
-        include '*.h'
-    }
     from("src/generated/main/native/cpp/wpimath/protobuf") {
         into '/wpimath/protobuf'
         include '**/*.h'
@@ -56,8 +52,6 @@ cppHeadersZip {
     }
 }
 
-cppHeadersZip.dependsOn generateProto
-
 model {
     components {
         all {
diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
index ae90ec0088..ace4b9c06f 100644
--- a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -288,7 +288,5 @@ class WPILIB_DLLEXPORT ArmFeedforward {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/controller/proto/ArmFeedforwardProto.h"
-#endif
 #include "frc/controller/struct/ArmFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h b/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
index 7947e5e8c8..da66a439b0 100644
--- a/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
@@ -99,7 +99,5 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
-#endif
 #include "frc/controller/struct/DifferentialDriveFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h b/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
index 6d9b6dd056..424cd2d1b3 100644
--- a/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
+++ b/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
@@ -21,7 +21,5 @@ struct DifferentialDriveWheelVoltages {
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
-#endif
 #include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
index 2ccfef1add..9be72a4ff6 100644
--- a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -262,7 +262,5 @@ class ElevatorFeedforward {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/controller/proto/ElevatorFeedforwardProto.h"
-#endif
 #include "frc/controller/struct/ElevatorFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h b/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
index 4957b15914..4cd59f55b3 100644
--- a/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
@@ -210,7 +210,5 @@ class WPILIB_DLLEXPORT Ellipse2d {
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Ellipse2dProto.h"
-#endif
 #include "frc/geometry/struct/Ellipse2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose2d.h b/wpimath/src/main/native/include/frc/geometry/Pose2d.h
index e105495fca..016de90624 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose2d.h
@@ -259,9 +259,7 @@ void from_json(const wpi::json& json, Pose2d& pose);
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Pose2dProto.h"
-#endif
 #include "frc/geometry/struct/Pose2dStruct.h"
 
 #include "frc/geometry/Transform2d.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose3d.h b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
index bffe9967d6..dba738f777 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
@@ -236,9 +236,7 @@ void from_json(const wpi::json& json, Pose3d& pose);
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Pose3dProto.h"
-#endif
 #include "frc/geometry/struct/Pose3dStruct.h"
 
 #include "frc/geometry/Transform3d.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Quaternion.h b/wpimath/src/main/native/include/frc/geometry/Quaternion.h
index 5226917a3f..e4d52b8f02 100644
--- a/wpimath/src/main/native/include/frc/geometry/Quaternion.h
+++ b/wpimath/src/main/native/include/frc/geometry/Quaternion.h
@@ -335,7 +335,5 @@ void from_json(const wpi::json& json, Quaternion& quaternion);
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/QuaternionProto.h"
-#endif
 #include "frc/geometry/struct/QuaternionStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h b/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
index 22ee80f22e..f03ca98c44 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
@@ -206,7 +206,5 @@ class WPILIB_DLLEXPORT Rectangle2d {
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rectangle2dProto.h"
-#endif
 #include "frc/geometry/struct/Rectangle2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index f58684809c..a8899304f2 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -205,7 +205,5 @@ void from_json(const wpi::json& json, Rotation2d& rotation);
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rotation2dProto.h"
-#endif
 #include "frc/geometry/struct/Rotation2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
index 0defa21f1a..661a0875f2 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
@@ -412,7 +412,5 @@ void from_json(const wpi::json& json, Rotation3d& rotation);
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rotation3dProto.h"
-#endif
 #include "frc/geometry/struct/Rotation3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Transform2d.h b/wpimath/src/main/native/include/frc/geometry/Transform2d.h
index c8581414aa..abf5c1ff4d 100644
--- a/wpimath/src/main/native/include/frc/geometry/Transform2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Transform2d.h
@@ -155,7 +155,5 @@ constexpr Transform2d Transform2d::operator+(const Transform2d& other) const {
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Transform2dProto.h"
-#endif
 #include "frc/geometry/struct/Transform2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Transform3d.h b/wpimath/src/main/native/include/frc/geometry/Transform3d.h
index 5a46e8044d..690906aee6 100644
--- a/wpimath/src/main/native/include/frc/geometry/Transform3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Transform3d.h
@@ -163,7 +163,5 @@ constexpr Transform3d Transform3d::operator+(const Transform3d& other) const {
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Transform3dProto.h"
-#endif
 #include "frc/geometry/struct/Transform3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Translation2d.h b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
index 697e474ac5..0b8133b231 100644
--- a/wpimath/src/main/native/include/frc/geometry/Translation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
@@ -271,7 +271,5 @@ void from_json(const wpi::json& json, Translation2d& state);
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Translation2dProto.h"
-#endif
 #include "frc/geometry/struct/Translation2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Translation3d.h b/wpimath/src/main/native/include/frc/geometry/Translation3d.h
index 97d9b60309..75d6fae503 100644
--- a/wpimath/src/main/native/include/frc/geometry/Translation3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Translation3d.h
@@ -236,7 +236,5 @@ void from_json(const wpi::json& json, Translation3d& state);
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Translation3dProto.h"
-#endif
 #include "frc/geometry/struct/Translation3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Twist2d.h b/wpimath/src/main/native/include/frc/geometry/Twist2d.h
index f8ae2eac63..40bef42e4e 100644
--- a/wpimath/src/main/native/include/frc/geometry/Twist2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Twist2d.h
@@ -60,7 +60,5 @@ struct WPILIB_DLLEXPORT Twist2d {
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Twist2dProto.h"
-#endif
 #include "frc/geometry/struct/Twist2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Twist3d.h b/wpimath/src/main/native/include/frc/geometry/Twist3d.h
index 65f26294fe..57e6caa5e2 100644
--- a/wpimath/src/main/native/include/frc/geometry/Twist3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Twist3d.h
@@ -79,7 +79,5 @@ struct WPILIB_DLLEXPORT Twist3d {
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Twist3dProto.h"
-#endif
 #include "frc/geometry/struct/Twist3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
index 2c673418a7..396b33a618 100644
--- a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -279,7 +279,5 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/ChassisSpeedsProto.h"
-#endif
 #include "frc/kinematics/struct/ChassisSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
index e2a45f1011..f605a50456 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -104,7 +104,5 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
-#endif
 #include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
index 2bc32ae5c4..5ca81d2e0b 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
@@ -42,7 +42,5 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
-#endif
 #include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
index 3f30d2f7be..fb3d7fbfdb 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
@@ -122,7 +122,5 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
-#endif
 #include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
index e23e7e3adb..218908fd31 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
@@ -200,7 +200,5 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
-#endif
 #include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
index da71d484db..a153b16bb8 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
@@ -53,7 +53,5 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
-#endif
 #include "frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
index 348ead8763..62208e5d50 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
@@ -144,7 +144,5 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
-#endif
 #include "frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h b/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
index 9c1cd83d5b..183f72fb28 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
@@ -45,7 +45,5 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/SwerveModulePositionProto.h"
-#endif
 #include "frc/kinematics/struct/SwerveModulePositionStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h b/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
index 93c08fc3f0..9c005c2479 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
@@ -86,7 +86,5 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/SwerveModuleStateProto.h"
-#endif
 #include "frc/kinematics/struct/SwerveModuleStateStruct.h"
diff --git a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
index 2f109e4349..98a27be652 100644
--- a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
@@ -147,7 +147,5 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/spline/proto/CubicHermiteSplineProto.h"
-#endif
 #include "frc/spline/struct/CubicHermiteSplineStruct.h"
diff --git a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
index 5ca47e3a15..293bb3e94d 100644
--- a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -154,7 +154,5 @@ class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
 };
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/spline/proto/QuinticHermiteSplineProto.h"
-#endif
 #include "frc/spline/struct/QuinticHermiteSplineStruct.h"
diff --git a/wpimath/src/main/native/include/frc/trajectory/Trajectory.h b/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
index ef37e3249a..74c939356f 100644
--- a/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
+++ b/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
@@ -272,7 +272,5 @@ void from_json(const wpi::json& json, Trajectory::State& state);
 
 }  // namespace frc
 
-#ifndef NO_PROTOBUF
 #include "frc/trajectory/proto/TrajectoryProto.h"
 #include "frc/trajectory/proto/TrajectoryStateProto.h"
-#endif
diff --git a/wpiutil/build.gradle b/wpiutil/build.gradle
index 92052919ad..78d9379284 100644
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -1,7 +1,6 @@
 apply from: "${rootDir}/shared/resources.gradle"
 
 ext {
-    skipproto = true
     noWpiutil = true
     skipJniSymbols = [
         'Java_edu_wpi_first_util_CombinedRuntimeLoader_setDllDirectory'