$ sudo apt-get remove dfu-util 

Uninstall dfu-util including dependent package

If you would like to remove dfu-util and it's dependent packages which are no longer needed from Ubuntu,

$ sudo apt-get remove --auto-remove dfu-util 

Use Purging dfu-util

If you use with purge options to dfu-util package all the configuration and dependent packages will be removed.

$ sudo apt-get purge dfu-util 

If you use purge options along with auto remove, will be removed everything regarding the package, It's really useful when you want to reinstall again.

$ sudo apt-get purge --auto-remove dfu-util 

See Also,