diff --git a/cpu/esp32/include/periph_cpu_esp32c3.h b/cpu/esp32/include/periph_cpu_esp32c3.h
index f4bab20a77..e2b243280a 100644
--- a/cpu/esp32/include/periph_cpu_esp32c3.h
+++ b/cpu/esp32/include/periph_cpu_esp32c3.h
@@ -167,10 +167,6 @@ extern "C" {
  *
  */
 
-#ifdef MODULE_PERIPH_CAN
-#include "can_esp.h"
-#endif
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/cpu/esp32/include/periph_cpu_esp32s2.h b/cpu/esp32/include/periph_cpu_esp32s2.h
index 74ffd6ed00..3491ed9a71 100644
--- a/cpu/esp32/include/periph_cpu_esp32s2.h
+++ b/cpu/esp32/include/periph_cpu_esp32s2.h
@@ -215,10 +215,6 @@ extern "C" {
  *
  */
 
-#ifdef MODULE_PERIPH_CAN
-#include "can_esp.h"
-#endif
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/cpu/esp32/include/periph_cpu_esp32s3.h b/cpu/esp32/include/periph_cpu_esp32s3.h
index 2856d39cfe..1f214d5582 100644
--- a/cpu/esp32/include/periph_cpu_esp32s3.h
+++ b/cpu/esp32/include/periph_cpu_esp32s3.h
@@ -215,10 +215,6 @@ extern "C" {
  *
  */
 
-#ifdef MODULE_PERIPH_CAN
-#include "can_esp.h"
-#endif
-
 #ifdef __cplusplus
 }
 #endif