Had this issue for over 24hrs and the solution that worked for me is as follows:
1. If your phone hasn't died yet, switch off your phone.
2. Obtain a can of Abro Circuit Cleaner. (should be available at your local hardware store)
3. Spray once directly into the charging port.
4. Use something thin like a sim card tray key to guide a dry, static free cloth into the spaces between the charging pin to remove any excess Circuit Cleaner.
OR
Use a can of compressed air to blow out any excess Circuit Cleaner.
5. The notification should be removed and charging resumed as usual.
I hope this helps!