This is due to the Print driver being corrupted. Removing the printer gets rid of the printer, but not the driver. In order to remove the driver
go to devices and printers
>Print server properties
Then Drivers and remove the driver that's associated with the printer that's having the issue. Once it's been removed go to services
>Then Printer Spooler
>Then restart the service
After the restart add the printer back and it should then download the driver again and resolve the issue.