Tested with kafka 0.10
1. stop zookeeper & Kafka server,
2. then go to 'kafka-logs' folder , there you will see list of kafka topic folders, delete folder with topic name
3. go to 'zookeeper-data' folder , delete data inside that.
4. start zookeeper & kafka server again.
Note : if you are deleting topic folder/s inside kafka-logs but not from zookeeper-data folder, then you will see topics are still there.