There are a few ways to do it, but try this one;
tableLayoutPanel.Controls.Remove(tableLayoutPanel1.GetControlFromPosition(col, row));
This is assuming you're just trying to remove the panels (As they would be child controls to the tableLayoutPanel).
Otherwise you could remove directly by passing the actual panel you want to remove through the method;
tableLayoutPanel.Controls.Remove(panelYouWantToRemove);