diff --git a/bindings/pydrake/util/test/type_pack_test.cc b/bindings/pydrake/util/test/type_pack_test.cc
index 555517a59e72..5135651d0cb1 100644
--- a/bindings/pydrake/util/test/type_pack_test.cc
+++ b/bindings/pydrake/util/test/type_pack_test.cc
@@ -102,13 +102,6 @@ GTEST_TEST(TypeUtilTest, Visit) {
   EXPECT_EQ(names, names_expected_sub);
 };
 
-GTEST_TEST(TypeUtilTest, Transform) {
-  auto seq = sequence_transform(
-      constant_add<int, 5>{}, std::make_integer_sequence<int, 5>{});
-  EXPECT_TRUE((std::is_same<
-      decltype(seq), std::integer_sequence<int, 5, 6, 7, 8, 9>>::value));
-}
-
 GTEST_TEST(TypeUtilTest, Hash) {
   using T = int;
   using U = int;
diff --git a/bindings/pydrake/util/type_pack.h b/bindings/pydrake/util/type_pack.h
index 3b2cad0340a0..fa449e15d2a2 100644
--- a/bindings/pydrake/util/type_pack.h
+++ b/bindings/pydrake/util/type_pack.h
@@ -172,24 +172,6 @@ void type_visit(
       true)...};
 }
 
-/// Transforms an integer sequence.
-/// @tparam TForm
-///   Type with the interface `TForm::template type<T>::value`,
-///   which operates on a constexpr value.
-/// @tparam T Integral type.
-/// @tparam Values... Integral values.
-template <typename TForm, typename T, T... Values>
-auto sequence_transform(TForm = {}, std::integer_sequence<T, Values...> = {}) {
-  return std::integer_sequence<T, TForm::template type<Values>::value...>{};
-}
-
-/// Adds a constant value to a constexpr value.
-template <typename T, T x>
-struct constant_add {
-  template <T y>
-  using type = std::integral_constant<T, x + y>;
-};
-
 /// Provides short-hand for hashing a type.
 template <typename T>
 constexpr size_t type_hash() {