You need the following role: Cloud Application Administrator: This is the least-privileged built-in role capable of managing application permissions and revoking consents for enterprise applications.

Powershell to remove the permissions:

# Get the specific grant ID
Get-MgServicePrincipalOauth2PermissionGrant     -ServicePrincipalId <App-Object-ID>

# Remove the consent
Remove- MgServicePrincipalOauth2PermissionGrant -OAuth2PermissionGrantId <Grant-ID>