I'm on Sprint and used to get this error once or twice a week. Very annoying as you couldn't just swipe it out of notifications.
I did some searching and found this solution:
No SIM Card Error on HTC One
Kind of a shoddy way to fix the issue... but it worked. Did this about a month ago and haven't seen the error since. Guessing it did just want it said it would do... raised the SIM Card contacts just enough.