diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
index fb5bd053..ff88958f 100644
--- a/.github/workflows/style.yaml
+++ b/.github/workflows/style.yaml
@@ -21,6 +21,4 @@ jobs:
     - name: uncrustify
       run: /ros_entrypoint.sh ament_uncrustify rmw_zenoh_cpp/
     - name: cpplint
-      # Ignore logging.hpp since the fmt::sprintf gets incorrectly flagged by ament_cpplint
-      # as a runtime/printf error.
-      run: /ros_entrypoint.sh ament_cpplint rmw_zenoh_cpp/ --exclude rmw_zenoh_cpp/src/detail/logging.hpp
+      run: /ros_entrypoint.sh ament_cpplint rmw_zenoh_cpp/
diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 8b72873d..a67c7c6f 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -16,7 +16,6 @@ find_package(ament_cmake REQUIRED)
 
 find_package(ament_index_cpp REQUIRED)
 find_package(fastcdr CONFIG REQUIRED)
-find_package(fmt CONFIG REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
@@ -61,7 +60,6 @@ target_link_libraries(rmw_zenoh_cpp
   PRIVATE
     ament_index_cpp::ament_index_cpp
     fastcdr
-    fmt::fmt
     rcpputils::rcpputils
     rcutils::rcutils
     rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
@@ -114,7 +112,7 @@ add_executable(rmw_zenohd
 target_link_libraries(rmw_zenohd
   PRIVATE
     ament_index_cpp::ament_index_cpp
-    fmt::fmt
+    rcutils::rcutils
     rcpputils::rcpputils
     rmw::rmw
     zenohc::lib
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 72ea95c8..6304ab32 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -14,7 +14,6 @@
 
   <depend>ament_index_cpp</depend>
   <depend>fastcdr</depend>
-  <depend>fmt</depend>
   <depend>rcpputils</depend>
   <depend>rcutils</depend>
   <depend>rosidl_typesupport_fastrtps_c</depend>
diff --git a/rmw_zenoh_cpp/src/detail/logging.cpp b/rmw_zenoh_cpp/src/detail/logging.cpp
index 2e845da1..a54bda18 100644
--- a/rmw_zenoh_cpp/src/detail/logging.cpp
+++ b/rmw_zenoh_cpp/src/detail/logging.cpp
@@ -21,51 +21,17 @@ namespace rmw_zenoh_cpp
 ///=============================================================================
 Logger & Logger::get()
 {
-  static Logger logger(RMW_ZENOH_LOG_LEVEL_INFO);
+  static Logger logger(RCUTILS_LOG_SEVERITY_INFO);
   return logger;
 }
 
 ///=============================================================================
-Logger::Logger(LogLevel threshold_level)
+Logger::Logger(RCUTILS_LOG_SEVERITY threshold_level)
 : threshold_level_(threshold_level)
 {}
 
 ///=============================================================================
-fmt::color Logger::level_to_color(LogLevel level) const
-{
-  switch (level) {
-    case RMW_ZENOH_LOG_LEVEL_DEBUG:
-      return fmt::color::light_green;
-    case RMW_ZENOH_LOG_LEVEL_ERROR:
-      return fmt::color::indian_red;
-    case RMW_ZENOH_LOG_LEVEL_INFO:
-      return fmt::color::light_blue;
-    case RMW_ZENOH_LOG_LEVEL_WARN:
-      return fmt::color::light_yellow;
-    default:
-      return fmt::color::white;
-  }
-}
-
-///=============================================================================
-std::string Logger::level_to_string(LogLevel level) const
-{
-  switch (level) {
-    case RMW_ZENOH_LOG_LEVEL_DEBUG:
-      return "DEBUG";
-    case RMW_ZENOH_LOG_LEVEL_ERROR:
-      return "ERROR";
-    case RMW_ZENOH_LOG_LEVEL_INFO:
-      return "INFO";
-    case RMW_ZENOH_LOG_LEVEL_WARN:
-      return "WARN";
-    default:
-      return "UNKOWN";
-  }
-}
-
-///=============================================================================
-void Logger::set_log_level(LogLevel new_level)
+void Logger::set_log_level(RCUTILS_LOG_SEVERITY new_level)
 {
   threshold_level_ = new_level;
 }
diff --git a/rmw_zenoh_cpp/src/detail/logging.hpp b/rmw_zenoh_cpp/src/detail/logging.hpp
index 7e7083f2..70cb2ab5 100644
--- a/rmw_zenoh_cpp/src/detail/logging.hpp
+++ b/rmw_zenoh_cpp/src/detail/logging.hpp
@@ -15,9 +15,7 @@
 #ifndef DETAIL__LOGGING_HPP_
 #define DETAIL__LOGGING_HPP_
 
-#include <fmt/chrono.h>
-#include <fmt/color.h>
-#include <fmt/printf.h>
+#include <rcutils/logging.h>
 
 #include <iostream>
 #include <mutex>
@@ -26,15 +24,6 @@
 
 namespace rmw_zenoh_cpp
 {
-///=============================================================================
-enum LogLevel
-{
-  RMW_ZENOH_LOG_LEVEL_DEBUG,
-  RMW_ZENOH_LOG_LEVEL_INFO,
-  RMW_ZENOH_LOG_LEVEL_WARN,
-  RMW_ZENOH_LOG_LEVEL_ERROR,
-};
-
 ///=============================================================================
 class Logger
 {
@@ -43,42 +32,40 @@ class Logger
   static Logger & get();
 
   // Set the threshold log level.
-  void set_log_level(LogLevel new_level);
+  void set_log_level(RCUTILS_LOG_SEVERITY new_level);
 
   // Log to the console.
-  template<typename ... Args>
   void log_named(
-    LogLevel level,
-    const std::string & name,
-    const std::string & message,
-    const Args &... args) const
+    RCUTILS_LOG_SEVERITY level,
+    const char * name,
+    const char * message,
+    ...) const
   {
     if (level >= threshold_level_) {
-      const auto time_now = std::chrono::system_clock::now().time_since_epoch();
-      const auto seconds =
-        std::chrono::duration_cast<std::chrono::seconds>(time_now).count();
-      auto nanoseconds =
-        std::chrono::duration_cast<std::chrono::nanoseconds>(
-        time_now - std::chrono::seconds(seconds)).count();
-      fmt::print(
-        fmt::fg(level_to_color(level)),
-        "[{}] [{}.{}] [{}]: {}\n",
-        level_to_string(level),
-        seconds,
-        nanoseconds,
+      rcutils_time_point_value_t now;
+      rcutils_ret_t ret = rcutils_system_time_now(&now);
+      if (ret != RCUTILS_RET_OK) {
+        RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to get timestamp while doing a console logging.\n");
+        return;
+      }
+      static rcutils_log_location_t log_location = {__func__, __FILE__, __LINE__};
+      va_list args;
+      va_start(args, message);
+      rcutils_logging_console_output_handler(
+        &log_location,
+        level,
         name,
-        fmt::sprintf(message, args ...)
+        now,
+        message,
+        &args
       );
     }
   }
 
 private:
-  LogLevel threshold_level_;
-  explicit Logger(LogLevel threshold_level);
-  fmt::color level_to_color(LogLevel level) const;
-  std::string level_to_string(LogLevel level) const;
+  RCUTILS_LOG_SEVERITY threshold_level_;
+  explicit Logger(RCUTILS_LOG_SEVERITY threshold_level);
 };
-
 }  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__LOGGING_HPP_
diff --git a/rmw_zenoh_cpp/src/detail/logging_macros.hpp b/rmw_zenoh_cpp/src/detail/logging_macros.hpp
index 58a3e5e9..89f0184c 100644
--- a/rmw_zenoh_cpp/src/detail/logging_macros.hpp
+++ b/rmw_zenoh_cpp/src/detail/logging_macros.hpp
@@ -26,12 +26,12 @@
 // Note: Consider adding a set_rmw_log_level() API to rmw which can override the
 // default log level at the RMW layer.
 #define RMW_ZENOH_LOG_DEBUG_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
-      rmw_zenoh_cpp::RMW_ZENOH_LOG_LEVEL_DEBUG, __VA_ARGS__);}
+      RCUTILS_LOG_SEVERITY_DEBUG, __VA_ARGS__);}
 #define RMW_ZENOH_LOG_ERROR_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
-      rmw_zenoh_cpp::RMW_ZENOH_LOG_LEVEL_ERROR, __VA_ARGS__);}
+      RCUTILS_LOG_SEVERITY_ERROR, __VA_ARGS__);}
 #define RMW_ZENOH_LOG_INFO_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
-      rmw_zenoh_cpp::RMW_ZENOH_LOG_LEVEL_INFO, __VA_ARGS__);}
+      RCUTILS_LOG_SEVERITY_INFO, __VA_ARGS__);}
 #define RMW_ZENOH_LOG_WARN_NAMED(...) {rmw_zenoh_cpp::Logger::get().log_named( \
-      rmw_zenoh_cpp::RMW_ZENOH_LOG_LEVEL_WARN, __VA_ARGS__);}
+      RCUTILS_LOG_SEVERITY_WARN, __VA_ARGS__);}
 
 #endif   // DETAIL__LOGGING_MACROS_HPP_
diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
index 87d20fc8..ea0dac4a 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
@@ -537,7 +537,7 @@ void client_data_handler(z_owned_reply_t * reply, void * data)
       "z_reply_is_ok returned False for keyexpr %s. Reason: %.*s",
       z_loan(keystr),
       (int)err.payload.len,
-      fmt::ptr(err.payload.start));
+      err.payload.start);
     z_drop(z_move(keystr));
 
     return;