diff --git b/wpimath/src/main/native/include/drake/common/drake_assert.h a/wpimath/src/main/native/include/drake/common/drake_assert.h
index acc1298fe..21e7bd100 100644
--- b/wpimath/src/main/native/include/drake/common/drake_assert.h
+++ a/wpimath/src/main/native/include/drake/common/drake_assert.h
@@ -83,10 +83,10 @@
 namespace drake {
 namespace internal {
 // Abort the program with an error message.
-__attribute__((noreturn)) /* gcc is ok with [[noreturn]]; clang is not. */
+[[noreturn]]
 void Abort(const char* condition, const char* func, const char* file, int line);
 // Report an assertion failure; will either Abort(...) or throw.
-__attribute__((noreturn)) /* gcc is ok with [[noreturn]]; clang is not. */
+[[noreturn]]
 void AssertionFailed(
     const char* condition, const char* func, const char* file, int line);
 }  // namespace internal
diff --git b/wpimath/src/main/native/include/drake/common/drake_throw.h a/wpimath/src/main/native/include/drake/common/drake_throw.h
index ffa617c25..d19e4efb7 100644
--- b/wpimath/src/main/native/include/drake/common/drake_throw.h
+++ a/wpimath/src/main/native/include/drake/common/drake_throw.h
@@ -12,7 +12,7 @@
 namespace drake {
 namespace internal {
 // Throw an error message.
-__attribute__((noreturn)) /* gcc is ok with [[noreturn]]; clang is not. */
+[[noreturn]]
 void Throw(const char* condition, const char* func, const char* file, int line);
 }  // namespace internal
 }  // namespace drake