• Create An Empty module or you have any other module which depends on base
• In Module inherit the model ir.ui.menu and override this function

from odoo import api, models

class IrUiMenu(models.Model):
    _inherit = 'ir.ui.menu'

    @api.model
    def search(self, args, offset=0, limit=None, order=None, count=False):
        context = self._context or {}
        if not self.env.user.has_group('base.group_system') and context.get('hide_non_admin_icons'):
            args = [('icon', '=', False), ('groups_id', '=', False)] + args
        return super(IrUiMenu, self).search(args, offset=offset, limit=limit, order=order, count=count)

1. In your desired view, add the following line in the context to hide the icons:

2. {'hide_non_admin_icons': True}