First it needs to be removed from the server.
In the printers folder click on file.
Then choose server properties and select the drivers tab.
Then choose the driver you wish to remove and click on remove.
This will need to be done on all servers in the farm with that driver.
Then open the cmc and highlight printer management and right click.
Choose update printer information.
Right click on printer management and choose refresh printer management.
The printer should then be gone.
If the printer does not get removed from the list high the printer and the right hand column will show which server it is on in case you missed removing the driver from a server.