How to change the default message of the required field in the popover of form-control in bootstrap?

You can use setCustomValidity function when oninvalid event occurs.

Like below:-

<input class="form-control" type="email" required="" 
    placeholder="username" oninvalid="this.setCustomValidity('Please Enter valid email')">
</input>

Update:-

To clear the message once you start entering use oninput="setCustomValidity('') attribute to clear the message.

<input class="form-control" type="email"  required="" placeholder="username"
 oninvalid="this.setCustomValidity('Please Enter valid email')"
 oninput="setCustomValidity('')"></input>

Combination of Mritunjay and Bartu's answers are full answer to this question. I copying the full example.

<input class="form-control" type="email"  required="" placeholder="username"
 oninvalid="this.setCustomValidity('Please Enter valid email')"
 oninput="setCustomValidity('')"></input>

Here,

this.setCustomValidity('Please Enter valid email')" - Display the custom message on invalidated of the field

oninput="setCustomValidity('')" - Remove the invalidate message on validated filed.

And for all input and select:

$("input[required], select[required]").attr("oninvalid", "this.setCustomValidity('Required!')");
$("input[required], select[required]").attr("oninput", "setCustomValidity('')");