I have Yosemite and had this particular problem which started when I added a specific meeting to my calendar.
Let's call the event "Screwed Up Meeting" for the sake of example. Knowing this particular event was the cause of the problem, I brought up the Spotlight Search (clicking on the magnifying glass in the upper right hand corner of the screen, or pressing command + spacebar will do this).
In the Spotlight Search, I typed Screwed Up Meeting (the name of the event) and then selected the option to "show all in finder."
Now, I can't remember exactly what technical file directory it was in but I found the file named "Screwed Up Meeting" that looked like it was deep in the administrative bowels of the Mac, and moved it to the Trash (I didn't delete it, just in case totally deleting it REALLY screwed something up). (Note: if you have emails, attachments, or other calendar events with the same name, you might have to carefully determine which is the correct file to move - you can do this by looking at file extensions and other information to deduce which is the likely one that has to go - for instance one that ends in .jpg isn't likely to be the cause of your problem!)
After removing this file, I closed and re-opened Calendar and so far have not seen any recurrence of this error message.
You will note that I didn't have to delete or restore any accounts, or export or reimport the entire calendar, or anything like that. Those sorts of tactics would clearly be overkill. When it's clearly one event that's causing a problem then it's only that event that should have to be eradicated, and as demonstrated by the steps I took above, finding and eradicating that one event is made relatively simple through judicious use of Spotlight Search.
Of course, if you don't know what event is causing the problem, then you're on a goose chase. For that reason it's best to address this immediately as soon as the problem starts - by tracing it back to the last event that you added before the problem started.