diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3b7ef4b660..c4f1f218a6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,13 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Changed
 
 - bindings/python : Add missing arg names in `visualizer-visitor.hpp`
+- use deprecation, warning macros already provided by jrl-cmakemodules
+
+### Removed
+
+- Remove unused headers `deprecated-macros.hpp` and `deprecated-namespaces.hpp`
+- Remove header `pinocchio/deprecation.hpp`, directly use generated `pinocchio/deprecated.hpp`
+- macros.hpp : remove macros already provided by jrl-cmakemodules
 
 ## [3.7.0] - 2025-05-21
 
diff --git a/include/pinocchio/algorithm/parallel/geometry.hpp b/include/pinocchio/algorithm/parallel/geometry.hpp
index 66ca88b6bf..43fbfdf9f4 100644
--- a/include/pinocchio/algorithm/parallel/geometry.hpp
+++ b/include/pinocchio/algorithm/parallel/geometry.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/algorithm/parallel/geometry.hpp, pinocchio/collision/parallel/geometry.hpp)
+PINOCCHIO_DEPRECATED_HEADER(pinocchio/algorithm/parallel/geometry.hpp, pinocchio/collision/parallel/geometry.hpp)
 // clang-format on
 
 #include "pinocchio/collision/parallel/geometry.hpp"
diff --git a/include/pinocchio/algorithm/parallel/omp.hpp b/include/pinocchio/algorithm/parallel/omp.hpp
index ec0bab2d7d..352d320ba0 100644
--- a/include/pinocchio/algorithm/parallel/omp.hpp
+++ b/include/pinocchio/algorithm/parallel/omp.hpp
@@ -6,7 +6,7 @@
 #define __pinocchio_algorithm_parallel_omp_hpp__
 
 #include "pinocchio/macros.hpp"
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(
+PINOCCHIO_DEPRECATED_HEADER(
   pinocchio / algorithm / parallel / omp.hpp, pinocchio / utils / openmp.hpp)
 #include "pinocchio/utils/openmp.hpp"
 
diff --git a/include/pinocchio/bindings/python/parsers/python.hpp b/include/pinocchio/bindings/python/parsers/python.hpp
index f0571388ab..287ea1456c 100644
--- a/include/pinocchio/bindings/python/parsers/python.hpp
+++ b/include/pinocchio/bindings/python/parsers/python.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/bindings/python/parsers/python.hpp, pinocchio/parsers/python.hpp)
+PINOCCHIO_DEPRECATED_HEADER(pinocchio/bindings/python/parsers/python.hpp, pinocchio/parsers/python.hpp)
 // clang-format on
 
 #include "pinocchio/parsers/python.hpp"
diff --git a/include/pinocchio/deprecated-macros.hpp b/include/pinocchio/deprecated-macros.hpp
deleted file mode 100644
index d25841e521..0000000000
--- a/include/pinocchio/deprecated-macros.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-//
-// Copyright (c) 2018 INRIA
-//
-
-#ifndef __pinocchio_deprecated_macros_hpp__
-#define __pinocchio_deprecated_macros_hpp__
-
-#ifdef PINOCCHIO_WITH_HPP_FCL
-  #ifdef PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1 // for backward compatibility
-    #define WITH_HPP_FCL
-  #endif
-#endif
-
-#ifdef PINOCCHIO_WITH_URDFDOM
-  #ifdef PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1 // for backward compatibility
-    #define WITH_URDFDOM
-  #endif
-#endif
-
-#endif // ifndef __pinocchio_deprecated_macros_hpp__
diff --git a/include/pinocchio/deprecated-namespaces.hpp b/include/pinocchio/deprecated-namespaces.hpp
deleted file mode 100644
index 951fd62799..0000000000
--- a/include/pinocchio/deprecated-namespaces.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-//
-// Copyright (c) 2018 INRIA
-//
-
-#ifndef __pinocchio_deprecated_namespaces_hpp__
-#define __pinocchio_deprecated_namespaces_hpp__
-
-#if PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1 // do not warn
-namespace se3 = ::pinocchio;
-#endif
-
-#endif // ifndef __pinocchio_deprecated_namespaces_hpp__
diff --git a/include/pinocchio/deprecation.hpp b/include/pinocchio/deprecation.hpp
deleted file mode 100644
index e2d6ba1ffc..0000000000
--- a/include/pinocchio/deprecation.hpp
+++ /dev/null
@@ -1,12 +0,0 @@
-//
-// Copyright (c) 2018 INRIA
-//
-
-#ifndef __pinocchio_deprecation_hpp__
-#define __pinocchio_deprecation_hpp__
-
-#include "pinocchio/deprecated.hpp"
-#include "pinocchio/deprecated-macros.hpp"
-#include "pinocchio/deprecated-namespaces.hpp"
-
-#endif // ifndef __pinocchio_deprecation_hpp__
diff --git a/include/pinocchio/fwd.hpp b/include/pinocchio/fwd.hpp
index 0a56bafa22..cbee40d165 100644
--- a/include/pinocchio/fwd.hpp
+++ b/include/pinocchio/fwd.hpp
@@ -26,7 +26,7 @@ namespace pinocchio
 #endif
 
 #include "pinocchio/macros.hpp"
-#include "pinocchio/deprecation.hpp"
+#include "pinocchio/deprecated.hpp"
 #include "pinocchio/warning.hpp"
 #include "pinocchio/config.hpp"
 #include "pinocchio/unsupported.hpp"
diff --git a/include/pinocchio/macros.hpp b/include/pinocchio/macros.hpp
index 68086d987d..5ccdec72e7 100644
--- a/include/pinocchio/macros.hpp
+++ b/include/pinocchio/macros.hpp
@@ -6,7 +6,8 @@
 #ifndef __pinocchio_macros_hpp__
 #define __pinocchio_macros_hpp__
 
-#include <sstream>
+#include "pinocchio/deprecated.hpp"
+#include "pinocchio/warning.hpp"
 
 // On Windows, __cplusplus is not necessarily set to the C++ version being used.
 // See https://docs.microsoft.com/fr-fr/cpp/build/reference/zc-cplusplus?view=vs-2019 for further
@@ -36,28 +37,8 @@
   #define PINOCCHIO_MAC_ARM64
 #endif
 
-#define PINOCCHIO_STRING_LITERAL(string) #string
 #define PINOCCHIO_NOEXCEPT noexcept
 
-// For more details, visit
-// https://stackoverflow.com/questions/171435/portability-of-warning-preprocessor-directive
-#if defined(__GNUC__) || defined(__clang__)
-  #define PINOCCHIO_PRAGMA(x) _Pragma(#x)
-  #define PINOCCHIO_PRAGMA_MESSAGE(the_message) PINOCCHIO_PRAGMA(GCC message #the_message)
-  #define PINOCCHIO_PRAGMA_WARNING(the_message) PINOCCHIO_PRAGMA(GCC warning #the_message)
-  #define PINOCCHIO_PRAGMA_DEPRECATED(the_message)                                                 \
-    PINOCCHIO_PRAGMA_WARNING(Deprecated : #the_message)
-  #define PINOCCHIO_PRAGMA_DEPRECATED_HEADER(old_header, new_header)                               \
-    PINOCCHIO_PRAGMA_WARNING(Deprecated header file : #old_header has been replaced                \
-                               by #new_header.\n Please use #new_header instead of #old_header.)
-#else
-  #define PINOCCHIO_PRAGMA(x)
-  #define PINOCCHIO_PRAGMA_MESSAGE(the_message)
-  #define PINOCCHIO_PRAGMA_WARNING(the_message)
-  #define PINOCCHIO_PRAGMA_DEPRECATED(the_message)
-  #define PINOCCHIO_PRAGMA_DEPRECATED_HEADER(old_header, new_header)
-#endif
-
 /// \brief Function attribute to forbid inlining.
 /// This is a compiler hint that can be not respected.
 #define PINOCCHIO_DONT_INLINE EIGEN_DONT_INLINE
@@ -244,7 +225,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_VARIADIC_MACROS
 #define _PINOCCHIO_CHECK_ARGUMENT_SIZE_2(size, expected_size)                                      \
   _PINOCCHIO_CHECK_ARGUMENT_SIZE_3(                                                                \
     size, expected_size,                                                                           \
-    PINOCCHIO_STRING_LITERAL(size) " is different from " PINOCCHIO_STRING_LITERAL(expected_size))
+    PINOCCHIO_WARN_STRINGISE(size) " is different from " PINOCCHIO_WARN_STRINGISE(expected_size))
 
 #define _PINOCCHIO_CHECK_ARGUMENT_SIZE_1
 
diff --git a/include/pinocchio/math/casadi.hpp b/include/pinocchio/math/casadi.hpp
index 385627380f..451e1faa28 100644
--- a/include/pinocchio/math/casadi.hpp
+++ b/include/pinocchio/math/casadi.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/math/casadi.hpp, pinocchio/autodiff/casadi.hpp)
+PINOCCHIO_DEPRECATED_HEADER(pinocchio/math/casadi.hpp, pinocchio/autodiff/casadi.hpp)
 // clang-format on
 
 #include "pinocchio/autodiff/casadi.hpp"
diff --git a/include/pinocchio/math/cppad.hpp b/include/pinocchio/math/cppad.hpp
index 7994119ddd..011d1d356b 100644
--- a/include/pinocchio/math/cppad.hpp
+++ b/include/pinocchio/math/cppad.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/math/cppad.hpp, pinocchio/autodiff/cppad.hpp)
+PINOCCHIO_DEPRECATED_HEADER(pinocchio/math/cppad.hpp, pinocchio/autodiff/cppad.hpp)
 // clang-format on
 
 #include "pinocchio/autodiff/cppad.hpp"
diff --git a/include/pinocchio/math/cppadcg.hpp b/include/pinocchio/math/cppadcg.hpp
index 4ea53f4201..a75b1858b9 100644
--- a/include/pinocchio/math/cppadcg.hpp
+++ b/include/pinocchio/math/cppadcg.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/math/cppadcg.hpp, pinocchio/codegen/cppadcg.hpp)
+PINOCCHIO_DEPRECATED_HEADER(pinocchio/math/cppadcg.hpp, pinocchio/codegen/cppadcg.hpp)
 // clang-format on
 
 #include "pinocchio/codegen/cppadcg.hpp"
diff --git a/include/pinocchio/parsers/sample-models.hpp b/include/pinocchio/parsers/sample-models.hpp
index 79b9a5c0ba..dea420c445 100644
--- a/include/pinocchio/parsers/sample-models.hpp
+++ b/include/pinocchio/parsers/sample-models.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(pinocchio/parsers/sample-models.hpp, pinocchio/multibody/sample-models.hpp)
+PINOCCHIO_DEPRECATED_HEADER(pinocchio/parsers/sample-models.hpp, pinocchio/multibody/sample-models.hpp)
 // clang-format on
 
 #include "pinocchio/multibody/sample-models.hpp"
diff --git a/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp b/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
index a0824b3f1e..f234b6e744 100644
--- a/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
+++ b/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
@@ -8,7 +8,7 @@
 #include "pinocchio/macros.hpp"
 
 // clang-format off
-PINOCCHIO_PRAGMA_DEPRECATED_HEADER(
+PINOCCHIO_DEPRECATED_HEADER(
   pinocchio/spatial/fcl-pinocchio-conversions.hpp,
   pinocchio/collision/fcl-pinocchio-conversions.hpp)
 // clang-format on
diff --git a/include/pinocchio/unsupported.hpp b/include/pinocchio/unsupported.hpp
index 7b06063493..dafdc2d18b 100644
--- a/include/pinocchio/unsupported.hpp
+++ b/include/pinocchio/unsupported.hpp
@@ -5,7 +5,7 @@
 #ifndef __pinocchio_unsupported_hpp__
 #define __pinocchio_unsupported_hpp__
 
-#include "pinocchio/deprecation.hpp"
+#include "pinocchio/deprecated.hpp"
 
 #define PINOCCHIO_UNSUPPORTED PINOCCHIO_DEPRECATED
 #define PINOCCHIO_UNSUPPORTED_MESSAGE PINOCCHIO_DEPRECATED_MESSAGE
diff --git a/sources.cmake b/sources.cmake
index 4941711cbb..bf462fe188 100644
--- a/sources.cmake
+++ b/sources.cmake
@@ -173,9 +173,6 @@ set(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
     ${PROJECT_SOURCE_DIR}/include/pinocchio/context.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/core/binary-op.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/core/unary-op.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecated-macros.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecated-namespaces.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecation.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/eigen-macros.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/fwd.hpp
     ${PROJECT_SOURCE_DIR}/include/pinocchio/macros.hpp