diff --git a/drivers/can/can_sender.c b/drivers/can/can_sender.c
index 062461a966..ccbed8272e 100644
--- a/drivers/can/can_sender.c
+++ b/drivers/can/can_sender.c
@@ -148,17 +148,6 @@ FAR struct can_msg_s *can_get_msg(FAR struct can_txcache_s *cd_sender)
   list_for_every_entry(&cd_sender->tx_sending, tmp_node,
                        struct can_msg_node_s, list)
     {
-      if (tmp_node->msg.cm_hdr.ch_id == msg->cm_hdr.ch_id)
-        {
-          /* In order to prevent messages with the same ID from being
-           * sent out of order, as long as there is a message with the
-           * same ID that has not been sent in H/W, no data will be
-           * written to H/W
-           */
-
-          return NULL;
-        }
-
       if (tmp_node->msg.cm_hdr.ch_id > msg->cm_hdr.ch_id)
         {
           break;