I received this error when connect was revoked from the public role and a login was attempted from a domain account with only public access. Once CONNECT was granted again the error went away.

Script used to revoke CONNECT:

REVOKE VIEW ANY DATABASE FROM public

REVOKE CONNECT ON ENDPOINT::[TSQL Local Machine] FROM public

REVOKE CONNECT ON ENDPOINT::[TSQL Named Pipes] FROM public

REVOKE CONNECT ON ENDPOINT::[TSQL Default TCP] FROM public

REVOKE CONNECT ON ENDPOINT::[TSQL Default VIA] FROM public

Script used to grant CONNECT to login:

GRANT CONNECT TO [DOMAIN\LOGIN]