1. Override “checkout_cart_index.xml” file in your theme or your module and add below code.
<body>
<referenceBlock name="checkout.cart.shipping">
<arguments>
<argument name="jsLayout" xsi:type="array">
<item name="components" xsi:type="array">
<item name="block-summary" xsi:type="array">
<item name="config" xsi:type="array">
<item name="componentDisabled" xsi:type="boolean">true</item>
</item>
</item>
</item>
</argument>
</arguments>
</referenceBlock>
</body>
Override template file checkout/cart/shipping.phtml in your theme or module
and comment below code in this file.
<div class="title" data-role="title">
<strong id="block-shipping-heading" role="heading" aria-level="2">
<?php /* @escapeNotVerified */ echo $block->getQuote()->isVirtual() ? __('Estimate Tax') : __('Estimate Shipping and Tax') ?>
</strong>
</div>