How to remove the notification after the particular time in android?

The current correct solution may be to use:

NotificationCompat.Builder#setTimeoutAfter(long)

AlarmManager is more often used for complicated Services that have to run in the Background when the Application is closed. You could also use a classic Java Runnable in a Handler for a simple small Thread.

Handler h = new Handler();
    long delayInMilliseconds = 5000;
    h.postDelayed(new Runnable() {
        public void run() {
            mNotificationManager.cancel(id);
        }
    }, delayInMilliseconds);

Also look here:

Clearing notification after a few seconds

You could also use the TimerTask-Class.

What you need is a combination of Alarmmanager and notificationmanger.

Register the alarm manager that will call a service in 5 minutes and use NotificationManager.cancel in the service implementation.

Alarm Service Sample is here. I suppose you know to use Notification Manager.