You can uninstall or removes an installed antlr3 package itself from Ubuntu 12.04 LTS (Precise Pangolin) through the terminal,
$ sudo apt-get remove antlr3
If you would like to remove antlr3 and it's dependent packages which are no longer needed from Ubuntu,
$ sudo apt-get remove --auto-remove antlr3
If you use with purge options to antlr3 package all the configuration and dependent packages will be removed.
$ sudo apt-get purge antlr3
If you use purge options along with auto remove, will be removed everything regarding the package, It's really useful when you want to reinstall again.
$ sudo apt-get purge --auto-remove antlr3