My Calendar was doing the same thing. I noticed that it started doing it after I downloaded a "Calendar feed" iCal update (a pop-up pictured below with an "http:" link that will also download an ".ics" icon in your download folder when you select the "click here to view feed" button).
NOTE: I deleted the web link for obvious reasons but an http: link will be in the white box outlined in blue in the picture above.
I noticed this started happening after I would drop the .ics file (pictured below) into my apple calendar. This file will download to your computer when you click the "click here to view feed" button
Here is how I fixed it:
1) delete your calendar and reinstall it
Calendar --> Preferences-->Accounts-->choose you calendar that you dropped the .ics folder into--> hit the (-) button.
To reinstall, hit the (+ ) button and go through the set-up.
Now, instead of trying to drop the .ics file directly into your Apple calendar, Go to your Google calendar and go to the heading that says "Other Calendars" and select the little down arrow. You will then see "Add by URL".
Paste your Live feed link here and click add calendar.
Then go to this link https://www.google.com/calendar/syncselect and select the boxes for the calenders you want to sync across all your devices. Click save.
Then restart your Apple Calendar and everything should be working and your Google Calendar, Apple Calendar and Apple devices Calendars should all be working, communicating with one another and without the error messages. By communicating to one another I mean you can make a change on any of the calendars and it will update the rest of them (could take a minute or 15 depending on how you have your refresh settings set-up). Now all you have to do is select which calendars you want to see on your Gcal, Ical and Apple Devices (if you are seeing two of the same appointments, you have too many calendars selected. The easiest way to figure this out is by looking at the colors of the appointments and seeing which calendar it correlates to. This gets a little hairy when you have multiple calendars synced like I do.
I hope this helps!