diff --git a/tools/aidl/aidl.cpp b/tools/aidl/aidl.cpp
index 071a8d771605a..b8a48033ede5f 100644
--- a/tools/aidl/aidl.cpp
+++ b/tools/aidl/aidl.cpp
@@ -673,6 +673,16 @@ generate_dep_file(const Options& options, const document_item_type* items)
 
     fprintf(to, "\n");
 
+    // Output "<imported_file>: " so make won't fail if the imported file has
+    // been deleted, moved or renamed in incremental build.
+    import = g_imports;
+    while (import) {
+        if (import->filename) {
+            fprintf(to, "%s :\n", import->filename);
+        }
+        import = import->next;
+    }
+
     fclose(to);
 }