Hey all. Thought I'd share my story and solution (thus far).

Sure enough I started getting this message incessantly. One day all was fine, and then boom, at least 50 times a day, seamingly at random with nothing plugged into the port. The only thing that changed on my phone was that I upgraded to IOS7 about a month prior. Otherwise, no obvious changes.
I immediately began searching online for solutions and found no real satisfactory answer. Here's what I knew at the time:
- I only use the cable that came with my phone (iphone 5 - bought 8-2013), so it couldn't be a unapproved cable issue.
- My thunderbolt connection appeared completely clean with no obvious indications of dust or "gunk". Still, I very carefully cleaned it out with paper, toothpicks, and modified q-tips. I even used compressed air to get in there. There was no obvious obstruction or dust. I was very frustrated and the message kept on coming.
- Obviously downgrading back to IOS 6 was not an option...although I completely loathe ios7 and would downgrade in a hearbeat. Don't even get me started about my horrible battery life now.
- Full resets and even a full restore from factory defaults didn't fix the issue.
So far I did stumble up on what appears to be a solution (either that or it randomly went away):
- First i went to the apple store and presented my problem and told the technician that a full restore didn't solve the problem. Here is what he told me..and I quote:
"Yeah, I was getting that same message after I upgraded to IO7 too. Couldn't get it to go away, but eventually it just healed itself, not sure how, but there's no patch or fix from apple. You either have to get a new phone which will cost you 200 bucks (since you're out of warranty now), or just live with it."
Seriously his expert techinal advice was to "live with it"
I started thinking hard about anything else that might have changed and I remembered something that I thought insignificant at the time. A few weeks ago, just before starting to get the message, I had a weird glitch where I went to turn up the volume on my phone, but for some reason it thought I had headphones plugged in. It indicated my headphone volume going up. Weird. It was odd since I obviously didn't have headphones plugged in. I blew in the headphone port, and did a full reset and the glitch was solved. This got me wondering though, I've been spending all my time focusing on the thunderbolt port, what if it's the headphone jack? What if there's something messing with that port that's making the IOS 7 think a non-approved device is plugged in? I know there are some devices that plug in and get power through the headphone jack. So I took some q-tips, pulled off some of the cotton so it would fit in the jack, and cleaned out the headphone port thoroughly. I also used some toothpicks and compressed air to make sure the pins were clean. Needless to say, there was A LOT of crap in the port. I usually carry my phone in my cargo pants pocket with the headphone port facing up, and so it doesn't surprise me that it would accumulate particles and dust. After this full cleaning, of the HEADPHONE port, with no other change, the message has not returned now in 5 days. Seems like too much of a coincidence not to be related.
I hope this helps some of you. I know how absolutely frustrating this message can be and if it starts coming back like it was, I might seriously consider a different brand of phone for my next....as much as it would pain me.
--j