diff --git a/clap_builder/src/output/usage.rs b/clap_builder/src/output/usage.rs
index 0b2ff3b93c3..6e27b160054 100644
--- a/clap_builder/src/output/usage.rs
+++ b/clap_builder/src/output/usage.rs
@@ -113,7 +113,11 @@ impl<'cmd> Usage<'cmd> {
             }
             let mut cmd = self.cmd.clone();
             cmd.build();
-            for (i, sub) in cmd.get_subcommands().enumerate() {
+            for (i, sub) in cmd
+                .get_subcommands()
+                .filter(|c| !c.is_hide_set())
+                .enumerate()
+            {
                 if i != 0 {
                     styled.trim_end();
                     let _ = write!(styled, "{}", USAGE_SEP);
diff --git a/tests/builder/help.rs b/tests/builder/help.rs
index a96e8b9630b..562d906c05f 100644
--- a/tests/builder/help.rs
+++ b/tests/builder/help.rs
@@ -3314,7 +3314,6 @@ fn flatten_single_hidden_command() {
 parent command
 
 Usage: parent [OPTIONS]
-       parent child1 [OPTIONS]
        parent help [COMMAND]...
 
 Options:
@@ -3346,7 +3345,6 @@ parent command
 Usage: parent [OPTIONS]
        parent child1 [OPTIONS]
        parent child2 [OPTIONS]
-       parent child3 [OPTIONS]
        parent help [COMMAND]...
 
 Options:
@@ -3406,7 +3404,6 @@ Usage: parent [OPTIONS]
        parent child1 grandchild3 [OPTIONS]
        parent child1 help [COMMAND]
        parent child2 [OPTIONS]
-       parent child3 [OPTIONS] [COMMAND]
        parent help [COMMAND]...
 
 Options: