Several of the other suggestions will get most of them, but they will mostly ignore several pedantic cases, such as SomeOtherSystem.out.println, or "this string contains a System.out.println()" or even "class System(){ public Someting out; ...}; System.out.println("this isn't what you think it is");
Ultimately, you can't 100% perfectly reason about Java with regular expressions alone. It sounds like you only want to remove them from your own code base this one time, so just use this and check up on the results.
If you wanted to really automate this properly (for instance, if you wanted to build a tool to do this), I'd suggest that you use a real Java parser, like this one: https://code.google.com/p/javaparser/