$('div').attr('style', '');
or
$('div').removeAttr('style');
(From Andres's Answer)
To make this a little smaller, try this:
$('div[style]').removeAttr('style');
This should speed it up a little because it checks that the divs have the style attribute.
Either way, this might take a little while to process if you have a large amount of divs, so you might want to consider other methods than javascript.