To revoke permissions from an IAM Role, you can detach policies or delete inline policies. Here is an example of detaching a managed policy:
aws iam detach-role-policy --role-name ExampleRole --policy-arn arn:aws:iam::aws:policy/AmazonS3ReadOnlyAccess
And an example of deleting an inline policy:
aws iam delete-role-policy --role-name ExampleRole --policy-name ExamplePolicy