Remove menu's classes and ids.

functions.php

// remove menu class and keep class to active item only
add_filter('nav_menu_css_class', 'my_css_attributes_filter', 100, 1);
add_filter('nav_menu_item_id', 'my_css_attributes_filter', 100, 1);
add_filter('page_css_class', 'my_css_attributes_filter', 100, 1);
function my_css_attributes_filter($var) {
  return is_array($var) ? array_intersect($var, array('current-menu-item')) : '';
}