diff --git a/include/fastdds/config.hpp.in b/include/fastdds/config.hpp.in
index eb65636c8f3..a13c850727b 100644
--- a/include/fastdds/config.hpp.in
+++ b/include/fastdds/config.hpp.in
@@ -124,10 +124,4 @@
             (FASTDDS_VERSION_MAJOR == major && FASTDDS_VERSION_MINOR < minor),  \
             "TODO before version " #major "." #minor " : " #msg)
 
-#if FASTCDR_VERSION_MAJOR > 1
-#define FASTDDS_SER_METHOD_DEPRECATED(major, entity_name, msg) FASTDDS_DEPRECATED_UNTIL(major, entity_name, msg)
-#else
-#define FASTDDS_SER_METHOD_DEPRECATED(major, entity_name, msg)
-#endif // if FASTCDR_VERSION_MAJOR > 1
-
 #endif // FASTDDS__CONFIG_H
diff --git a/include/fastdds/rtps/common/CdrSerialization.hpp b/include/fastdds/rtps/common/CdrSerialization.hpp
index 5595278bf5b..80d762b73b3 100644
--- a/include/fastdds/rtps/common/CdrSerialization.hpp
+++ b/include/fastdds/rtps/common/CdrSerialization.hpp
@@ -20,76 +20,6 @@
 #define FASTDDS_RTPS_COMMON__CDRSERIALIZATION_HPP
 
 #include <fastcdr/Cdr.h>
-
-#if FASTCDR_VERSION_MAJOR == 1
-
-#include <fastcdr/exceptions/BadParamException.h>
-#include <fastcdr/cdr/fixed_size_string.hpp>
-
-namespace eprosima {
-namespace fastcdr {
-
-namespace CdrVersion {
-const eprosima::fastcdr::Cdr::CdrType DDS_CDR = eprosima::fastcdr::Cdr::CdrType::DDS_CDR;
-const eprosima::fastcdr::Cdr::CdrType XCDRv1 = eprosima::fastcdr::Cdr::CdrType::DDS_CDR;
-const eprosima::fastcdr::Cdr::CdrType XCDRv2 = eprosima::fastcdr::Cdr::CdrType::DDS_CDR;
-} // namespace CdrVersion
-
-class CdrSizeCalculator;
-
-template<class _T>
-extern size_t calculate_serialized_size(
-        eprosima::fastcdr::CdrSizeCalculator& calculator,
-        const _T& data,
-        size_t& current_alignment);
-
-template<class _T>
-extern void serialize(
-        Cdr&,
-        const _T&);
-
-template<class _T>
-extern void deserialize(
-        Cdr&,
-        _T&);
-
-// Dummy class
-class CdrSizeCalculator
-{
-public:
-
-    CdrSizeCalculator(
-            eprosima::fastcdr::Cdr::CdrType)
-    {
-    }
-
-    template<class _T>
-    size_t calculate_serialized_size(
-            const _T& data,
-            size_t current_alignment)
-    {
-        return eprosima::fastcdr::calculate_serialized_size(*this, data, current_alignment);
-    }
-
-};
-
-template<size_t MAX_CHARS>
-using fastcdr::fixed_string = eprosima::fastcdr::fixed_string<MAX_CHARS>;
-
-} // namespace fastcdr
-} // namespace eprosima
-
-namespace eprosima {
-namespace fastdds {
-namespace rtps {
-//! Default XCDR encoding version used in Fast DDS.
-constexpr eprosima::fastcdr::Cdr::CdrType DEFAULT_XCDR_VERSION {eprosima::fastcdr::Cdr::CdrType::DDS_CDR};
-} // namespace rtps
-} // namespace fastdds
-} // namespace eprosima
-
-#else
-
 #include <fastcdr/CdrSizeCalculator.hpp>
 
 namespace eprosima {
@@ -101,6 +31,4 @@ constexpr eprosima::fastcdr::CdrVersion DEFAULT_XCDR_VERSION {eprosima::fastcdr:
 } // namespace fastdds
 } // namespace eprosima
 
-#endif //FASTCDR_VERSION_MAJOR == 1
-
 #endif // FASTDDS_RTPS_COMMON__CDRSERIALIZATION_HPP
diff --git a/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp b/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
index 70c63d0e085..c35e65846b6 100644
--- a/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
+++ b/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
@@ -906,13 +906,8 @@ inline bool QosPoliciesSerializer<TypeIdV1>::add_to_cdr_message(
     ser.serialize_encapsulation();
 
     ser << qos_policy.m_type_identifier;
-#if FASTCDR_VERSION_MAJOR == 1
-    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-    size = (ser.getSerializedDataLength() + 3) & ~3;
-#else
     payload.length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
     size = (ser.get_serialized_data_length() + 3) & ~3;
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     bool valid = rtps::CDRMessage::addUInt16(cdr_message, qos_policy.Pid);
     valid &= rtps::CDRMessage::addUInt16(cdr_message, static_cast<uint16_t>(size));
@@ -938,9 +933,6 @@ inline bool QosPoliciesSerializer<TypeIdV1>::read_content_from_cdr_message(
     rtps::CDRMessage::readData(cdr_message, payload.data, parameter_length); // Object that manages the raw buffer.
 
     eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-            , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
             );
 
     try
@@ -988,13 +980,8 @@ inline bool QosPoliciesSerializer<TypeObjectV1>::add_to_cdr_message(
     ser.serialize_encapsulation();
 
     ser << qos_policy.m_type_object;
-#if FASTCDR_VERSION_MAJOR == 1
-    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-    size = (ser.getSerializedDataLength() + 3) & ~3;
-#else
     payload.length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
     size = (ser.get_serialized_data_length() + 3) & ~3;
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     bool valid = rtps::CDRMessage::addUInt16(cdr_message, qos_policy.Pid);
     valid &= rtps::CDRMessage::addUInt16(cdr_message, static_cast<uint16_t>(size));
@@ -1020,9 +1007,6 @@ inline bool QosPoliciesSerializer<TypeObjectV1>::read_content_from_cdr_message(
     rtps::CDRMessage::readData(cdr_message, payload.data, parameter_length); // Object that manages the raw buffer.
 
     eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-            , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
             );
 
     try
@@ -1071,13 +1055,8 @@ inline bool QosPoliciesSerializer<xtypes::TypeInformationParameter>::add_to_cdr_
     ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PL_CDR2);
 
     ser << qos_policy.type_information;
-#if FASTCDR_VERSION_MAJOR == 1
-    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-    size = (ser.getSerializedDataLength() + 3) & ~3;
-#else
     payload.length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
     size = (ser.get_serialized_data_length() + 3) & ~3;
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     bool valid = rtps::CDRMessage::addUInt16(cdr_message, qos_policy.Pid);
     valid &= rtps::CDRMessage::addUInt16(cdr_message, static_cast<uint16_t>(size));
diff --git a/src/cpp/fastdds/topic/DDSSQLFilter/DDSFilterExpression.cpp b/src/cpp/fastdds/topic/DDSSQLFilter/DDSFilterExpression.cpp
index 2157410b245..629820262e4 100644
--- a/src/cpp/fastdds/topic/DDSSQLFilter/DDSFilterExpression.cpp
+++ b/src/cpp/fastdds/topic/DDSSQLFilter/DDSFilterExpression.cpp
@@ -55,10 +55,6 @@ bool DDSFilterExpression::evaluate(
     {
         FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.length);
         Cdr deser(fastbuffer
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
                 );
         deser.read_encapsulation();
         traits<DynamicData>::narrow<DynamicDataImpl>(dyn_data_)->deserialize(deser);
diff --git a/src/cpp/rtps/transport/tcp/TCPControlMessage.cpp b/src/cpp/rtps/transport/tcp/TCPControlMessage.cpp
index ac5c1cd04ff..7d8543fbe0e 100644
--- a/src/cpp/rtps/transport/tcp/TCPControlMessage.cpp
+++ b/src/cpp/rtps/transport/tcp/TCPControlMessage.cpp
@@ -164,11 +164,7 @@ bool ConnectionRequest_t::serialize(
         return false;
     }
 
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-#else
     payload->length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     return true;
 }
@@ -256,11 +252,7 @@ bool OpenLogicalPortRequest_t::serialize(
         return false;
     }
 
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-#else
     payload->length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     return true;
 }
@@ -349,11 +341,7 @@ bool CheckLogicalPortsRequest_t::serialize(
         return false;
     }
 
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-#else
     payload->length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     return true;
 }
@@ -441,11 +429,7 @@ bool KeepAliveRequest_t::serialize(
         return false;
     }
 
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-#else
     payload->length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     return true;
 }
@@ -533,11 +517,7 @@ bool LogicalPortIsClosedRequest_t::serialize(
         return false;
     }
 
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-#else
     payload->length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     return true;
 }
@@ -625,11 +605,7 @@ bool BindConnectionResponse_t::serialize(
         return false;
     }
 
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-#else
     payload->length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     return true;
 }
@@ -718,11 +694,7 @@ bool CheckLogicalPortsResponse_t::serialize(
         return false;
     }
 
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
-#else
     payload->length = (uint32_t)ser.get_serialized_data_length(); //Get the serialized length
-#endif // FASTCDR_VERSION_MAJOR == 1
 
     return true;
 }
diff --git a/src/cpp/security/cryptography/AESGCMGMAC_Transform.cpp b/src/cpp/security/cryptography/AESGCMGMAC_Transform.cpp
index f8813b42496..691ad17e013 100644
--- a/src/cpp/security/cryptography/AESGCMGMAC_Transform.cpp
+++ b/src/cpp/security/cryptography/AESGCMGMAC_Transform.cpp
@@ -38,15 +38,6 @@
 #undef max
 #endif // ifdef WIN32
 
-#if FASTCDR_VERSION_MAJOR == 1
-#define change_endianness changeEndianness
-#define get_serialized_data_length getSerializedDataLength
-#define get_state getState
-#define get_current_position getCurrentPosition
-#define get_buffer_pointer getBufferPointer
-#define set_state setState
-#endif // FASTCDR_VERSION_MAJOR == 1
-
 namespace eprosima {
 namespace fastdds {
 namespace rtps {
diff --git a/test/blackbox/common/DDSBlackboxTestsDataRepresentationQos.cpp b/test/blackbox/common/DDSBlackboxTestsDataRepresentationQos.cpp
index 28b480582e3..512bccb3ed1 100644
--- a/test/blackbox/common/DDSBlackboxTestsDataRepresentationQos.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsDataRepresentationQos.cpp
@@ -24,8 +24,6 @@
 
 using namespace eprosima::fastdds::dds;
 
-#if FASTCDR_VERSION_MAJOR > 1
-
 class MockHelloWorldPubSubType : public HelloWorldPubSubType
 {
 public:
@@ -150,5 +148,3 @@ INSTANTIATE_TEST_SUITE_P(
         std::make_tuple(XCDR2_VECTOR, XCDR2_VECTOR, true, XCDR2_DATA_REPRESENTATION, eprosima::fastcdr::PLAIN_CDR2),
         std::make_tuple(XCDR2_VECTOR, BOTH_XCDR_VECTOR, true, XCDR2_DATA_REPRESENTATION, eprosima::fastcdr::PLAIN_CDR2)
         ));
-
-#endif // FASTCDR_VERSION_MAJOR > 1
diff --git a/test/blackbox/common/RTPSAsSocketWriter.hpp b/test/blackbox/common/RTPSAsSocketWriter.hpp
index 88dd861a11d..10edf3e0033 100644
--- a/test/blackbox/common/RTPSAsSocketWriter.hpp
+++ b/test/blackbox/common/RTPSAsSocketWriter.hpp
@@ -149,11 +149,7 @@ class RTPSAsSocketWriter : public eprosima::fastdds::rtps::WriterListener
 
             cdr << magicword_;
             cdr << *it;
-#if FASTCDR_VERSION_MAJOR == 1
-            ch->serializedPayload.length = static_cast<uint32_t>(cdr.getSerializedDataLength());
-#else
             ch->serializedPayload.length = static_cast<uint32_t>(cdr.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
 
             history_->add_change(ch);
             it = msgs.erase(it);
diff --git a/test/blackbox/common/RTPSWithRegistrationReader.hpp b/test/blackbox/common/RTPSWithRegistrationReader.hpp
index 59c4f5553ca..879f4dbda0d 100644
--- a/test/blackbox/common/RTPSWithRegistrationReader.hpp
+++ b/test/blackbox/common/RTPSWithRegistrationReader.hpp
@@ -576,10 +576,6 @@ class RTPSWithRegistrationReader
             eprosima::fastcdr::FastBuffer buffer((char*)change->serializedPayload.data,
                     change->serializedPayload.length);
             eprosima::fastcdr::Cdr cdr(buffer
-#if FASTCDR_VERSION_MAJOR == 1
-                    , eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-                    , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
                     );
 
             cdr.read_encapsulation();
diff --git a/test/realtime/UserThreadNonBlockedTest.cpp b/test/realtime/UserThreadNonBlockedTest.cpp
index 9c0969408b3..a8f7c397505 100644
--- a/test/realtime/UserThreadNonBlockedTest.cpp
+++ b/test/realtime/UserThreadNonBlockedTest.cpp
@@ -78,10 +78,6 @@ class DummyType : public eprosima::fastdds::dds::TopicDataType
         eprosima::fastcdr::FastBuffer fastbuffer((char*)payload->data, payload->length);
         // Object that serializes the data.
         eprosima::fastcdr::Cdr deser(fastbuffer       // Deserialize encapsulation.
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
                 );
         deser.read_encapsulation();
         payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
diff --git a/test/unittest/dds/subscriber/FooBoundedTypeSupport.hpp b/test/unittest/dds/subscriber/FooBoundedTypeSupport.hpp
index 67de52cd9e7..dd3b00c69b7 100644
--- a/test/unittest/dds/subscriber/FooBoundedTypeSupport.hpp
+++ b/test/unittest/dds/subscriber/FooBoundedTypeSupport.hpp
@@ -53,12 +53,10 @@ class FooBoundedTypeSupport : public TopicDataType
                 data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
                 eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
         payload.encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
         ser.set_encoding_flag(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
             eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
         try
         {
@@ -90,10 +88,6 @@ class FooBoundedTypeSupport : public TopicDataType
 
         // Object that deserializes the data.
         eprosima::fastcdr::Cdr deser(fb
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
                 );
 
         // Deserialize encapsulation.
diff --git a/test/unittest/dds/subscriber/FooTypeSupport.hpp b/test/unittest/dds/subscriber/FooTypeSupport.hpp
index d7c401db323..a2aa21b16c6 100644
--- a/test/unittest/dds/subscriber/FooTypeSupport.hpp
+++ b/test/unittest/dds/subscriber/FooTypeSupport.hpp
@@ -51,12 +51,10 @@ class FooTypeSupport : public TopicDataType
                 data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
                 eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
         payload.encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
         ser.set_encoding_flag(
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
             eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
         try
         {
@@ -88,10 +86,6 @@ class FooTypeSupport : public TopicDataType
 
         // Object that deserializes the data.
         eprosima::fastcdr::Cdr deser(fb
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
                 );
 
         // Deserialize encapsulation.
@@ -162,11 +156,7 @@ class FooTypeSupport : public TopicDataType
         {
             MD5 md5;
             md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-            md5.update(key_buf, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
             md5.update(key_buf, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
             md5.finalize();
             for (uint8_t i = 0; i < 16; ++i)
             {
diff --git a/test/unittest/rtps/writer/RTPSWriterTests.cpp b/test/unittest/rtps/writer/RTPSWriterTests.cpp
index f0f610d5d5b..204669e6f6a 100644
--- a/test/unittest/rtps/writer/RTPSWriterTests.cpp
+++ b/test/unittest/rtps/writer/RTPSWriterTests.cpp
@@ -85,15 +85,6 @@ class TestDataType
 
     constexpr static size_t data_size = 250;
 
-#if FASTCDR_VERSION_MAJOR == 1
-    static size_t getCdrSerializedSize(
-            const TestDataType&)
-    {
-        return TestDataType::data_size;
-    }
-
-#endif // if FASTCDR_VERSION_MAJOR == 1
-
 };
 
 void pool_initialization_test (