First option for this error 

1. Go to Programs and Features in Control panel > click Turn Windows features on or off

2. click + sign of Print services

3. Select LPD and LPR. You should remove Internet Printing Client. > restart your PC to ensure there is no error of spooler service.

4. Add your printer driver again.

If that does not work
You can edit the registrey

Start -> Run - Regedit -> HKEY_LOCAL_MACHINE -> SYSTEM -> ControlSet001 ->
Control -> Print -> Environments -> Windows NT x86 -> Version -3 -> Remove
All Printers From Here (Delete HP First See If that resolves the problem)