Succinimide and its derivatives are cyclic five-membered rings that appear in a variety of natural products and are widely used in organic synthesis. From a structural standpoint, succinimide contains an NH group in the ring which interacts with two adjacent carbonyl groups, pushing the ring structure toward planarity at the expense of increasing ring strain and eclipsing interactions among the out-of-plane hydrogen atoms in the two CH2 groups. Previous quantum chemical calculations at different levels of theory have predicted both a nonplanar C2 structure and a planar C2v structure, the latter of which is the most consistent with gas-phase electron diffraction measurements. Here, we report the pure rotational spectra of succinimide and N-chlorosuccinimide in the 26.5-40.0 GHz range using chirped-pulse Fourier transform microwave spectroscopy, supported by coupled cluster and density functional theory quantum chemical calculations. The spectra were fit to Watson's A-reduced effective Hamiltonian, including both 35Cl and 37Cl isotopologues of N-chlorosuccinimide as well as the N and Cl quadrupole hyperfine interactions. On the basis of the agreement with quantum chemical calculations and the measured inertial defects, we find that the rotational spectra are consistent with a planar ring structure, with a maximum out-of-plane angle of ≤5°.