sudo nano /boot/cmdline.txt

change the original line:

dwc_otg.lpm_enable=0 console=ttyAMA0,115200 kgdboc=ttyAMA0,115200 console=tty1 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline rootwait

to this:

dwc_otg.lpm_enable=0 console=ttyAMA0,115200 kgdboc=ttyAMA0,115200 console=tty3 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline rootwait loglevel=3 quiet logo.nologo

Changes are:

• Change console from tty1 to tty3
• Add loglevel=3
• Add quiet
• Add logo.nologo

Source: https://www.pi-supply.com/make/disabling-verbose-boot-mode-raspberry-pi/