diff --git a/include/loki/details/pddl/context.hpp b/include/loki/details/pddl/context.hpp
index b1fc1eeb..8a4e7c34 100644
--- a/include/loki/details/pddl/context.hpp
+++ b/include/loki/details/pddl/context.hpp
@@ -36,6 +36,8 @@ struct Context
     ScopeStack& scopes;
     // For strict error checking
     bool strict;
+    // For printing warnings
+    bool quiet;
     // Toggle error checks during parsing
     bool allow_free_variables;
     // For checking that certain PDDL objects were referenced at least once
@@ -44,11 +46,12 @@ struct Context
     Requirements requirements;
     std::unordered_set<Predicate> derived_predicates;
 
-    Context(PDDLFactories& factories_, PDDLPositionCache& positions_, ScopeStack& scopes_, bool strict_ = false) :
+    Context(PDDLFactories& factories_, PDDLPositionCache& positions_, ScopeStack& scopes_, bool strict_ = false, bool quiet_ = true) :
         factories(factories_),
         positions(positions_),
         scopes(scopes_),
         strict(strict_),
+        quiet(quiet_),
         allow_free_variables(false),
         references(ReferencedPDDLObjects()),
         requirements(nullptr)
diff --git a/src/parser.cpp b/src/parser.cpp
index b8f9d5d8..baf1d55a 100644
--- a/src/parser.cpp
+++ b/src/parser.cpp
@@ -60,7 +60,7 @@ DomainParser::DomainParser(const fs::path& file_path, bool strict, bool quiet) :
     m_position_cache = std::make_unique<PDDLPositionCache>(x3_error_handler, file_path);
     m_scopes = std::make_unique<ScopeStack>(m_position_cache->get_error_handler());
 
-    auto context = Context(m_factories, *m_position_cache, *m_scopes, strict);
+    auto context = Context(m_factories, *m_position_cache, *m_scopes, strict, quiet);
     // Initialize global scope
     context.scopes.open_scope();
 
@@ -125,7 +125,7 @@ ProblemParser::ProblemParser(const fs::path& file_path, DomainParser& domain_par
     m_position_cache = std::make_unique<PDDLPositionCache>(x3_error_handler, file_path);
     m_scopes = std::make_unique<ScopeStack>(m_position_cache->get_error_handler(), domain_parser.m_scopes.get());
 
-    auto context = Context(domain_parser.m_factories, *m_position_cache, *m_scopes, strict);
+    auto context = Context(domain_parser.m_factories, *m_position_cache, *m_scopes, strict, quiet);
 
     // Initialize global scope
     context.scopes.open_scope();
diff --git a/src/pddl/parser/structure.cpp b/src/pddl/parser/structure.cpp
index e283d694..2b0db71a 100644
--- a/src/pddl/parser/structure.cpp
+++ b/src/pddl/parser/structure.cpp
@@ -54,8 +54,25 @@ Action parse(const ast::Action& node, Context& context)
     track_variable_references(parameter_list, context);
     auto [condition, effect] = parse(node.action_body, context);
     test_variable_references(parameter_list, context);
+    // Remove unused action parameters
+    auto used_parameters = ParameterList {};
+    for (const auto& parameter : parameter_list)
+    {
+        if (!context.references.exists(parameter->get_variable()))
+        {
+            used_parameters.push_back(parameter);
+        }
+        else
+        {
+            if (!context.quiet)
+            {
+                std::cout << "Removed unused parameter " << *parameter << " from action " << name << std::endl;
+            }
+        }
+    }
     context.scopes.close_scope();
-    const auto action = context.factories.get_or_create_action(name, parameter_list.size(), parameter_list, condition, effect);
+
+    const auto action = context.factories.get_or_create_action(name, used_parameters.size(), used_parameters, condition, effect);
     context.positions.push_back(action, node);
     return action;
 }