Do you want to remove the restriction? Then I think you can edit the usergroup and set Custom Avatar max width, height, and filesize to 0.
If you want to have a size restricytion but just remove the message, then you can edit the modifyavatar template and remove the part that looks like this:
Code:
<vb:if condition="$show['maxnote']">
<p class="description">{vb:raw maxnote}</p>
</vb:if>
which appears twice in the template.