diff --git a/src/core/common/message.cpp b/src/core/common/message.cpp
index 1ffc7215c..9d3ebcaae 100644
--- a/src/core/common/message.cpp
+++ b/src/core/common/message.cpp
@@ -51,10 +51,6 @@
 #error "OPENTHREAD_CONFIG_MESSAGE_USE_HEAP_ENABLE conflicts with OPENTHREAD_CONFIG_PLATFORM_MESSAGE_MANAGEMENT."
 #endif
 
-#if OPENTHREAD_CONFIG_MESSAGE_USE_HEAP_ENABLE && !OPENTHREAD_CONFIG_DTLS_ENABLE
-#error "OPENTHREAD_CONFIG_MESSAGE_USE_HEAP_ENABLE is strongly discouraged when OPENTHREAD_CONFIG_DTLS_ENABLE is off."
-#endif
-
 namespace ot {
 
 RegisterLogModule("Message");