Is it permissible for a Muslim girl to remove her hijab in her parents' home due to the belief that angels do not enter a place where there is an unveiled girl?

Forcing a woman to wear the hijab constantly inside her home is an undue hardship that the Sharia does not mandate. Rather, it is obligatory only if she is not safe from the gaze of non-mahram men. As for among her mahrams, it is permissible for her to uncover what commonly appears, such as her limbs, unless there is suspicion.

There is no sound evidence that angels do not enter a place where there is a woman without hijab; for the hijab is related to the gaze of men.

However, a person should—even if alone—avoid nudity and uncovering the major awrahs without need, because Allah is more deserving of shyness from Him.