“Have to” is used to indicate that it is necessary to do something, although not obligatory. “Don’t/doesn’t have to” are used to indicate that there’s no compelling need to do something.

Affirmative Negative Interrogative Interro-negative
I have to I don’t have to Do I have to Don’t I have to?
You have to You don’t have to Do you have to? Don’t you have to?
He, she, it has to He, she, it doesn’t have to Does he, she it have to? Doesn’t he, she, it have to?
We have to We don’t have to Do we have to? Don’t we have to?
You have to You don’t have to Do you have to? Don’t you have to?
They have to They don’t have to Do they have to? Don’t they have to?

“Have to” is used to express a need which is not an obligation. “Don’t/doesn’t have to” is used to indicate that something is unnecessary.

Use Example
To express a need, a necessity I have to go to the dentist for a check.

She can’t go out. She has to do her homework.

To say that something is not necessary You don’t have to go shopping. I’ve already bought everything.

 

Modals – have to, don’t have to

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