diff --git a/CMakeLists.txt b/CMakeLists.txt
index 263268e7d..23d2ea297 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -179,17 +179,6 @@ else()
 endif()
 
 
-# find_package(tinyxml QUIET)
-# if (TINYXML_FOUND)
-#   set(FCL_HAVE_TINYXML 1)
-#   include_directories(${TINYXML_INCLUDE_DIRS})
-#   link_directories(${TINYXML_LIBRARY_DIRS})
-#   message(STATUS "FCL uses tinyxml")
-# else()
-#   message(STATUS "FCL does not use tinyxml")
-# endif()
-
-
 # FCL's own include dir should be at the front of the include path
 include_directories(BEFORE "include")
 include_directories(BEFORE "${CMAKE_CURRENT_BINARY_DIR}/include")
diff --git a/CMakeModules/Findtinyxml.cmake b/CMakeModules/Findtinyxml.cmake
deleted file mode 100644
index fe55d8cda..000000000
--- a/CMakeModules/Findtinyxml.cmake
+++ /dev/null
@@ -1,21 +0,0 @@
-# this module was taken from http://trac.evemu.org/browser/trunk/cmake/FindTinyXML.cmake
-# - Find TinyXML
-# Find the native TinyXML includes and library
-#
-# TINYXML_FOUND - True if TinyXML found.
-# TINYXML_INCLUDE_DIR - where to find tinyxml.h, etc.
-# TINYXML_LIBRARIES - List of libraries when using TinyXML.
-#
-INCLUDE( "FindPackageHandleStandardArgs" )
-
-
-FIND_PATH( TINYXML_INCLUDE_DIRS "tinyxml.h"
-PATH_SUFFIXES "tinyxml" )
-
-FIND_LIBRARY( TINYXML_LIBRARY_DIRS
-NAMES "tinyxml"
-PATH_SUFFIXES "tinyxml" )
-
-# handle the QUIETLY and REQUIRED arguments and set TINYXML_FOUND to TRUE if
-# all listed variables are TRUE
-FIND_PACKAGE_HANDLE_STANDARD_ARGS( "TinyXML" DEFAULT_MSG TINYXML_INCLUDE_DIRS TINYXML_LIBRARY_DIRS )
diff --git a/include/fcl/config.h.in b/include/fcl/config.h.in
index 687902de9..3f2d09de5 100644
--- a/include/fcl/config.h.in
+++ b/include/fcl/config.h.in
@@ -43,7 +43,6 @@
 
 #cmakedefine01 FCL_HAVE_SSE
 #cmakedefine01 FCL_HAVE_OCTOMAP
-#cmakedefine01 FCL_HAVE_TINYXML
 
 #cmakedefine01 FCL_ENABLE_PROFILING