diff --git a/net/can/can_recvmsg.c b/net/can/can_recvmsg.c
index 36bacaecad..540f19eaaf 100644
--- a/net/can/can_recvmsg.c
+++ b/net/can/can_recvmsg.c
@@ -410,7 +410,10 @@ static uint16_t can_recvfrom_eventhandler(FAR struct net_driver_s *dev,
                                           FAR void *pvpriv, uint16_t flags)
 {
   struct can_recvfrom_s *pstate = (struct can_recvfrom_s *)pvpriv;
+#if defined(CONFIG_NET_CANPROTO_OPTIONS) || defined(CONFIG_NET_CAN_CANFD) || \
+  defined(CONFIG_NET_TIMESTAMP)
   struct can_conn_s *conn = (struct can_conn_s *)pstate->pr_sock->s_conn;
+#endif
 
   /* 'priv' might be null in some race conditions (?) */