diff --git a/src/garage/envs/dm_control/dm_control_env.py b/src/garage/envs/dm_control/dm_control_env.py
index 5c47b4634f..acee75406f 100644
--- a/src/garage/envs/dm_control/dm_control_env.py
+++ b/src/garage/envs/dm_control/dm_control_env.py
@@ -1,12 +1,12 @@
 """DM control environment."""
 import akro
 from dm_control import suite
+from dm_control import viewer
 from dm_control.rl.control import flatten_observation
 from dm_env import StepType as dm_StepType
 import numpy as np
 
 from garage import Environment, EnvSpec, EnvStep, StepType
-from garage.envs.dm_control.dm_control_viewer import DmControlViewer
 
 
 def _flat_shape(observation):
@@ -180,14 +180,11 @@ def render(self, mode):
     def visualize(self):
         """Creates a visualization of the environment."""
         if not self._viewer:
-            title = 'dm_control {}'.format(self._name)
-            self._viewer = DmControlViewer(title=title)
+            self._viewer = viewer
             self._viewer.launch(self._env)
 
     def close(self):
         """Close the environment."""
-        if self._viewer:
-            self._viewer.close()
         self._env.close()
         self._viewer = None
         self._env = None
diff --git a/src/garage/envs/dm_control/dm_control_viewer.py b/src/garage/envs/dm_control/dm_control_viewer.py
deleted file mode 100644
index dad5fef015..0000000000
--- a/src/garage/envs/dm_control/dm_control_viewer.py
+++ /dev/null
@@ -1,55 +0,0 @@
-""" Wrapper for the dm_control viewer which allows single-stepping """
-import dm_control.viewer.application as dm_viewer_app
-import glfw
-
-
-class DmControlViewer(dm_viewer_app.Application):
-    def render(self):
-        # Don't try to render into closed windows
-        if not self._window._context:
-            return
-
-        self._render_once()
-
-        # Just keep rendering if we're paused, but hold onto control flow
-        while self._pause_subject.value:
-            self._render_once()
-
-    def _render_once(self):
-        # See https://github.com/deepmind/dm_control/blob/92f9913013face0468442cd0964d5973ea2089ea/dm_control/viewer/gui/glfw_gui.py#L280  # noqa: E501
-        window = self._window
-        tick_func = self._tick_func
-        if (window._context
-                and not glfw.window_should_close(window._context.window)):
-            pixels = tick_func()
-            with window._context.make_current() as ctx:
-                ctx.call(window._update_gui_on_render_thread,
-                         window._context.window, pixels)
-            window._mouse.process_events()
-            window._keyboard.process_events()
-        else:
-            window.close()
-
-    def launch(self, environment_loader, policy=None):
-        # See https://github.com/deepmind/dm_control/blob/92f9913013face0468442cd0964d5973ea2089ea/dm_control/viewer/application.py#L304  # noqa: E501
-        if environment_loader is None:
-            raise ValueError('"environment_loader" argument is required.')
-        if callable(environment_loader):
-            self._environment_loader = environment_loader
-        else:
-            self._environment_loader = lambda: environment_loader
-        self._policy = policy
-        self._load_environment(zoom_to_scene=True)
-
-        def tick():
-            self._viewport.set_size(*self._window.shape)
-            self._tick()
-            return self._renderer.pixels
-
-        self._tick_func = tick
-
-        # Start unpaused
-        self._pause_subject.value = False
-
-    def close(self):
-        self._window.close()