这里有一个非常简单的解决方案:

self.navigationController.navigationBar.clipsToBounds = YES;

试试这个:

[[UINavigationBar appearance] setBackgroundImage: [UIImage new]  
                                   forBarMetrics: UIBarMetricsDefault];

[UINavigationBar appearance].shadowImage = [UIImage new];

下图有解释(iOS7导航栏):

检查这个SO问题: iOS7 -改变UINavigationBar的边框颜色

从iOS 13开始，就有一个系统API来设置或删除阴影

UIKit使用shadowImage和shadowColor属性来确定阴影的 外观。当shadowImage为nil时，该工具条显示默认的着色阴影 根据shadowColor属性中的值。如果shadowColor为nil或 包含clearColor颜色，条显示没有阴影。

    let appearance = UINavigationBarAppearance()
    appearance.shadowImage = nil
    appearance.shadowColor = nil
    navigationController.navigationBar.standardAppearance = appearance

https://developer.apple.com/documentation/uikit/uibarappearance/3198009-shadowimage

简单的解决方案

   let navigationBar = self.navigationController?.navigationBar
    navigationBar?.setBackgroundImage(UIImage(), forBarPosition: UIBarPosition.Any, barMetrics: UIBarMetrics.Default)
    navigationBar?.shadowImage = UIImage()

Slightly Swift Solution 
func setGlobalAppearanceCharacteristics () {
    let navigationBarAppearace = UINavigationBar.appearance()
    navigationBarAppearace.tintColor = UIColor.white
    navigationBarAppearace.barTintColor = UIColor.blue
    navigationBarAppearace.setBackgroundImage(UIImage(), for: UIBarMetrics.default)
    navigationBarAppearace.shadowImage = UIImage()

}

我刚刚为这个创建了一个扩展…关于格式的问题很抱歉(这是我的第一个答案)。

用法:

  override func viewDidLoad() {
    super.viewDidLoad()
    self.navigationController?.hideShadow = true
}

扩展:

 UINavigationController.swift
//  Created by Ricardo López Rey on 16/7/15.

import Foundation


struct UINavigationControllerExtension {
    static var hideShadowKey : String = "HideShadow"
static let backColor = UIColor(red: 247/255, green: 247/255, blue: 248/255, alpha: 1.0)
}

extension UINavigationController {

    var hideShadow : Bool {
        get {
            if let ret =  objc_getAssociatedObject(self, &UINavigationControllerExtension.hideShadowKey) as? Bool {
                return ret
            } else {
                return false
            }


        }
        set {
            objc_setAssociatedObject(self,&UINavigationControllerExtension.hideShadowKey,newValue, objc_AssociationPolicy(OBJC_ASSOCIATION_RETAIN_NONATOMIC))

            if newValue {


            self.navigationBar.setBackgroundImage(solidImage(UINavigationControllerExtension.backColor), forBarMetrics: UIBarMetrics.Default)

                self.navigationBar.shadowImage = solidImage(UIColor.clearColor())
            } else {
                self.navigationBar.setBackgroundImage(nil, forBarMetrics: UIBarMetrics.Default)
            }
        }
    }

    private func solidImage(color: UIColor, size: CGSize = CGSize(width: 1,height: 1)) -> UIImage {
        var rect = CGRectMake(0, 0, size.width, size.height)
        UIGraphicsBeginImageContextWithOptions(size, false, 0)
        color.setFill()
        UIRectFill(rect)
        var image: UIImage = UIGraphicsGetImageFromCurrentImageContext()
        UIGraphicsEndImageContext()
        return image
    }


}