diff --git a/joint_limits/src/joint_limits_helpers.cpp b/joint_limits/src/joint_limits_helpers.cpp
index ed5eca07b6..4fee92948c 100644
--- a/joint_limits/src/joint_limits_helpers.cpp
+++ b/joint_limits/src/joint_limits_helpers.cpp
@@ -111,15 +111,7 @@ std::pair<double, double> compute_velocity_limits(
     vel_limits.first = std::max(prev_command_vel.value() - delta_vel, vel_limits.first);
     vel_limits.second = std::min(prev_command_vel.value() + delta_vel, vel_limits.second);
   }
-  RCLCPP_DEBUG(
-    rclcpp::get_logger("joint_limiter_interface"),
-    "Joint velocity limits for joint '%s' are [%f, %f]", joint_name.c_str(), vel_limits.first,
-    vel_limits.second);
   internal::check_and_swap_limits(vel_limits);
-  RCLCPP_DEBUG(
-    rclcpp::get_logger("joint_limiter_interface"),
-    "After swapping Joint velocity limits for joint '%s' are [%f, %f]", joint_name.c_str(),
-    vel_limits.first, vel_limits.second);
   return vel_limits;
 }